From c1e4b0e0f03aabf23c8f930757a032d36197ebda Mon Sep 17 00:00:00 2001 From: IDONTSUDO Date: Tue, 4 Jul 2023 07:19:55 +0000 Subject: [PATCH] =?UTF-8?q?=D0=92=D0=B5=D0=B1=20=D0=B8=D0=BD=D1=82=D0=B5?= =?UTF-8?q?=D1=80=D1=84=D0=B5=D0=B9=D1=81=20=D0=B4=D0=BB=D1=8F=20=D0=BA?= =?UTF-8?q?=D0=BE=D1=80=D1=80=D0=B5=D0=BA=D1=82=D0=B8=D1=80=D0=BE=D0=B2?= =?UTF-8?q?=D0=BA=D0=B8=20=D1=80=D0=B0=D0=B1=D0=BE=D1=82=D1=8B=20ASP,=20?= =?UTF-8?q?=D0=B5=D0=B3=D0=BE=20=D0=B8=D0=BD=D1=82=D0=B5=D0=B3=D1=80=D0=B0?= =?UTF-8?q?=D1=86=D0=B8=D1=8F=20=D1=81=20=D0=B0=D0=BB=D0=B3=D0=BE=D1=80?= =?UTF-8?q?=D0=B8=D1=82=D0=BC=D0=B0=D0=BC=D0=B8=20=D0=B3=D0=B5=D0=BD=D0=B5?= =?UTF-8?q?=D1=80=D0=B0=D1=86=D0=B8=D0=B8?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- asp-review-app/.gitignore | 2 + asp-review-app/server/package-lock.json | 500 ++++++++++++++++++ asp-review-app/server/package.json | 4 +- asp-review-app/server/src/app.ts | 6 +- .../server/src/core/di/register_di.ts | 10 +- .../server/src/core/helper/memorization.ts | 11 - .../core/middlewares/ValidationMiddleware.ts | 1 - .../src/core/repository/compute_repository.ts | 79 ++- .../src/core/repository/entity_repository.ts | 67 ++- .../src/core/repository/zip_repository.ts | 12 +- .../assembly_create_controller.ts | 113 +++- .../assembly_create/assembly_create_route.ts | 64 ++- .../assembly_create/model/zip_files_model.ts | 3 + .../assembly_previews_controller.ts | 15 +- .../assembly_previews_route.ts | 8 +- asp-review-app/ui/package-lock.json | 330 +++++++++--- asp-review-app/ui/package.json | 13 +- asp-review-app/ui/src/App.css | 34 +- .../ui/src/core/repository/http_repository.ts | 19 +- .../all_project/all_project_screen.tsx | 62 ++- .../create_project/create_project.tsx | 72 +++ .../stability_preview/stability_preview.tsx | 57 ++ .../topology_ajax_preview.tsx | 48 ++ asp-review-app/ui/src/index.tsx | 18 +- asp-review-app/ui/yarn.lock | 254 ++++++--- asp/.gitignore | 1 + asp/main.py | 12 +- asp/src/usecases/formatter_usecase.py | 5 +- asp/src/usecases/stability_check_usecase.py | 36 -- asp/src/usecases/urdf_sub_assembly_usecase.py | 6 +- cad_generation/env.json | 6 + cad_generation/helper/fs.py | 15 + cad_generation/helper/is_solid.py | 18 + cad_generation/main.py | 19 + cad_generation/model/files_generator.py | 13 + cad_generation/model/geometry_part.py | 86 +++ cad_generation/model/join_mesh_model.py | 33 ++ cad_generation/model/mesh_part_model.py | 32 ++ cad_generation/model/sdf_geometry_model.py | 107 ++++ .../model/simple_copy_part_model.py | 30 ++ .../robossembler_freecad_export_scenario.py | 54 ++ cad_generation/usecases/asm4parser_usecase.py | 53 ++ .../usecases/assembly_parse_usecase.py | 58 ++ .../export_assembly_them_all_usecase.py | 92 ++++ cad_generation/usecases/export_usecase.py | 36 ++ cad_generation/usecases/geometry_usecase.py | 58 ++ .../usecases/get_sdf_geometry_usecase.py | 68 +++ cad_stability_check/.gitignore | 95 ++++ cad_stability_check/main.py | 79 +++ cad_stability_input | 1 + .../robossembler_freecad_export_scenario.py | 2 +- geometric_feasibility_predicate/README.MD | 1 + geometric_feasibility_predicate/env.json | 4 + geometric_feasibility_predicate/main.py | 358 +++++++++++++ pddl/main.py | 2 +- stability_process_predicate/main.py | 16 + .../usecases/stability_check_usecase.py | 61 +++ 57 files changed, 2969 insertions(+), 290 deletions(-) create mode 100644 asp-review-app/ui/src/features/create_project/create_project.tsx create mode 100644 asp-review-app/ui/src/features/stability_preview/stability_preview.tsx create mode 100644 asp-review-app/ui/src/features/topology_ajax_preview/topology_ajax_preview.tsx create mode 100644 asp/.gitignore delete mode 100644 asp/src/usecases/stability_check_usecase.py create mode 100644 cad_generation/env.json create mode 100644 cad_generation/helper/fs.py create mode 100644 cad_generation/helper/is_solid.py create mode 100644 cad_generation/main.py create mode 100644 cad_generation/model/files_generator.py create mode 100644 cad_generation/model/geometry_part.py create mode 100644 cad_generation/model/join_mesh_model.py create mode 100644 cad_generation/model/mesh_part_model.py create mode 100644 cad_generation/model/sdf_geometry_model.py create mode 100644 cad_generation/model/simple_copy_part_model.py create mode 100644 cad_generation/scenarios/robossembler_freecad_export_scenario.py create mode 100644 cad_generation/usecases/asm4parser_usecase.py create mode 100644 cad_generation/usecases/assembly_parse_usecase.py create mode 100644 cad_generation/usecases/export_assembly_them_all_usecase.py create mode 100644 cad_generation/usecases/export_usecase.py create mode 100644 cad_generation/usecases/geometry_usecase.py create mode 100644 cad_generation/usecases/get_sdf_geometry_usecase.py create mode 100644 cad_stability_check/.gitignore create mode 100644 cad_stability_check/main.py create mode 160000 cad_stability_input create mode 100644 geometric_feasibility_predicate/README.MD create mode 100644 geometric_feasibility_predicate/env.json create mode 100644 geometric_feasibility_predicate/main.py create mode 100644 stability_process_predicate/main.py create mode 100644 stability_process_predicate/usecases/stability_check_usecase.py diff --git a/asp-review-app/.gitignore b/asp-review-app/.gitignore index 048c8dd..a2424f7 100644 --- a/asp-review-app/.gitignore +++ b/asp-review-app/.gitignore @@ -22,3 +22,5 @@ npm-debug.log* yarn-debug.log* yarn-error.log* **/node_modules +server/public/ +**/computed/ \ No newline at end of file diff --git a/asp-review-app/server/package-lock.json b/asp-review-app/server/package-lock.json index 5d626cf..686b9b1 100644 --- a/asp-review-app/server/package-lock.json +++ b/asp-review-app/server/package-lock.json @@ -15,6 +15,7 @@ "compression": "^1.7.4", "concurrently": "^8.0.1", "cors": "^2.8.5", + "decompress": "^4.2.1", "express": "^4.18.2", "express-cross": "^1.0.0", "express-fileupload": 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"https://registry.npmjs.org/ip/-/ip-2.0.0.tgz", @@ -1134,6 +1414,17 @@ "node": ">=8" } }, + "node_modules/is-core-module": { + "version": "2.12.1", + "resolved": "https://registry.npmjs.org/is-core-module/-/is-core-module-2.12.1.tgz", + "integrity": "sha512-Q4ZuBAe2FUsKtyQJoQHlvP8OvBERxO3jEmy1I7hcRXcJBGGHFh/aJBswbXuS9sgrDH2QUO8ilkwNPHvHMd8clg==", + "dependencies": { + "has": "^1.0.3" + }, + "funding": { + "url": "https://github.com/sponsors/ljharb" + } + }, "node_modules/is-extglob": { "version": "2.1.1", "resolved": "https://registry.npmjs.org/is-extglob/-/is-extglob-2.1.1.tgz", @@ -1161,6 +1452,11 @@ "node": ">=0.10.0" } }, + "node_modules/is-natural-number": { + "version": "4.0.1", + "resolved": "https://registry.npmjs.org/is-natural-number/-/is-natural-number-4.0.1.tgz", + "integrity": "sha512-Y4LTamMe0DDQIIAlaer9eKebAlDSV6huy+TWhJVPlzZh2o4tRP5SQWFlLn5N0To4mDD22/qdOq+veo1cSISLgQ==" + }, "node_modules/is-number": { "version": "7.0.0", "resolved": "https://registry.npmjs.org/is-number/-/is-number-7.0.0.tgz", @@ -1169,6 +1465,14 @@ "node": ">=0.12.0" } }, + "node_modules/is-stream": { + "version": "1.1.0", + "resolved": "https://registry.npmjs.org/is-stream/-/is-stream-1.1.0.tgz", + "integrity": "sha512-uQPm8kcs47jx38atAcWTVxyltQYoPT68y9aWYdV6yWXSyW8mzSat0TL6CiWdZeCdF3KrAvpVtnHbTv4RN+rqdQ==", + "engines": { + "node": ">=0.10.0" + } + }, "node_modules/isarray": { "version": "1.0.0", "resolved": "https://registry.npmjs.org/isarray/-/isarray-1.0.0.tgz", @@ -1193,6 +1497,25 @@ "resolved": "https://registry.npmjs.org/lodash/-/lodash-4.17.21.tgz", "integrity": "sha512-v2kDEe57lecTulaDIuNTPy3Ry4gLGJ6Z1O3vE1krgXZNrsQ+LFTGHVxVjcXPs17LhbZVGedAJv8XZ1tvj5FvSg==" }, + "node_modules/make-dir": { + "version": "1.3.0", + "resolved": "https://registry.npmjs.org/make-dir/-/make-dir-1.3.0.tgz", + "integrity": "sha512-2w31R7SJtieJJnQtGc7RVL2StM2vGYVfqUOvUDxH6bC6aJTxPxTF0GnIgCyu7tjockiUWAYQRbxa7vKn34s5sQ==", + "dependencies": { + "pify": "^3.0.0" + }, + "engines": { + "node": ">=4" + } + }, + "node_modules/make-dir/node_modules/pify": { + "version": "3.0.0", + "resolved": "https://registry.npmjs.org/pify/-/pify-3.0.0.tgz", + "integrity": "sha512-C3FsVNH1udSEX48gGX1xfvwTWfsYWj5U+8/uK15BGzIGrKoUpghX8hWZwa/OFnakBiiVNmBvemTJR5mcy7iPcg==", + "engines": { + "node": ">=4" + } + }, "node_modules/make-error": { "version": "1.3.6", "resolved": "https://registry.npmjs.org/make-error/-/make-error-1.3.6.tgz", @@ -1566,6 +1889,14 @@ "node": ">= 0.8" } }, + "node_modules/once": { + "version": "1.4.0", + "resolved": "https://registry.npmjs.org/once/-/once-1.4.0.tgz", + "integrity": "sha512-lNaJgI+2Q5URQBkccEKHTQOPaXdUxnZZElQTZY0MFUAuaEqe1E+Nyvgdz/aIyNi6Z9MzO5dv1H8n58/GELp3+w==", + "dependencies": { + "wrappy": "1" + } + }, "node_modules/parseurl": { "version": "1.3.3", "resolved": "https://registry.npmjs.org/parseurl/-/parseurl-1.3.3.tgz", @@ -1574,11 +1905,29 @@ "node": ">= 0.8" } }, + "node_modules/path-is-absolute": { + "version": "1.0.1", + "resolved": "https://registry.npmjs.org/path-is-absolute/-/path-is-absolute-1.0.1.tgz", + "integrity": "sha512-AVbw3UJ2e9bq64vSaS9Am0fje1Pa8pbGqTTsmXfaIiMpnr5DlDhfJOuLj9Sf95ZPVDAUerDfEk88MPmPe7UCQg==", + "engines": { + "node": ">=0.10.0" + } + }, + "node_modules/path-parse": { + "version": "1.0.7", + "resolved": "https://registry.npmjs.org/path-parse/-/path-parse-1.0.7.tgz", + "integrity": "sha512-LDJzPVEEEPR+y48z93A0Ed0yXb8pAByGWo/k5YYdYgpY2/2EsOsksJrq7lOHxryrVOn1ejG6oAp8ahvOIQD8sw==" + }, "node_modules/path-to-regexp": { "version": "0.1.7", "resolved": "https://registry.npmjs.org/path-to-regexp/-/path-to-regexp-0.1.7.tgz", "integrity": "sha512-5DFkuoqlv1uYQKxy8omFBeJPQcdoE07Kv2sferDCrAq1ohOU+MSDswDIbnx3YAM60qIOnYa53wBhXW0EbMonrQ==" }, + "node_modules/pend": { + "version": "1.2.0", + "resolved": "https://registry.npmjs.org/pend/-/pend-1.2.0.tgz", + "integrity": "sha512-F3asv42UuXchdzt+xXqfW1OGlVBe+mxa2mqI0pg5yAHZPvFmY3Y6drSf/GQ1A86WgWEN9Kzh/WrgKa6iGcHXLg==" + }, "node_modules/picomatch": { "version": "2.3.1", "resolved": "https://registry.npmjs.org/picomatch/-/picomatch-2.3.1.tgz", @@ -1590,6 +1939,33 @@ "url": "https://github.com/sponsors/jonschlinkert" } }, + "node_modules/pify": { + "version": "2.3.0", + "resolved": "https://registry.npmjs.org/pify/-/pify-2.3.0.tgz", + "integrity": "sha512-udgsAY+fTnvv7kI7aaxbqwWNb0AHiB0qBO89PZKPkoTmGOgdbrHDKD+0B2X4uTfJ/FT1R09r9gTsjUjNJotuog==", + "engines": { + "node": ">=0.10.0" + } + }, + "node_modules/pinkie": { + "version": "2.0.4", + "resolved": "https://registry.npmjs.org/pinkie/-/pinkie-2.0.4.tgz", + "integrity": "sha512-MnUuEycAemtSaeFSjXKW/aroV7akBbY+Sv+RkyqFjgAe73F+MR0TBWKBRDkmfWq/HiFmdavfZ1G7h4SPZXaCSg==", + "engines": { + "node": ">=0.10.0" + } + }, + "node_modules/pinkie-promise": { + "version": "2.0.1", + "resolved": "https://registry.npmjs.org/pinkie-promise/-/pinkie-promise-2.0.1.tgz", + "integrity": "sha512-0Gni6D4UcLTbv9c57DfxDGdr41XfgUjqWZu492f0cIGr16zDU06BWP/RAEvOuo7CQ0CNjHaLlM59YJJFm3NWlw==", + "dependencies": { + "pinkie": "^2.0.0" + }, + "engines": { + "node": ">=0.10.0" + } + }, "node_modules/process-nextick-args": { "version": "2.0.1", "resolved": "https://registry.npmjs.org/process-nextick-args/-/process-nextick-args-2.0.1.tgz", @@ -1687,6 +2063,17 @@ "node": ">=8.10.0" } }, + "node_modules/rechoir": { + "version": "0.6.2", + "resolved": "https://registry.npmjs.org/rechoir/-/rechoir-0.6.2.tgz", + "integrity": "sha512-HFM8rkZ+i3zrV+4LQjwQ0W+ez98pApMGM3HUrN04j3CqzPOzl9nmP15Y8YXNm8QHGv/eacOVEjqhmWpkRV0NAw==", + "dependencies": { + "resolve": "^1.1.6" + }, + "engines": { + "node": ">= 0.10" + } + }, "node_modules/reflect-metadata": { "version": "0.1.13", "resolved": "https://registry.npmjs.org/reflect-metadata/-/reflect-metadata-0.1.13.tgz", @@ -1706,6 +2093,22 @@ "node": ">=0.10.0" } }, + "node_modules/resolve": { + "version": "1.22.2", + "resolved": "https://registry.npmjs.org/resolve/-/resolve-1.22.2.tgz", + "integrity": "sha512-Sb+mjNHOULsBv818T40qSPeRiuWLyaGMa5ewydRLFimneixmVy2zdivRl+AF6jaYPC8ERxGDmFSiqui6SfPd+g==", + "dependencies": { + "is-core-module": "^2.11.0", + "path-parse": "^1.0.7", + "supports-preserve-symlinks-flag": "^1.0.0" + }, + "bin": { + "resolve": "bin/resolve" + }, + "funding": { + "url": "https://github.com/sponsors/ljharb" + } + }, "node_modules/rxjs": { "version": "7.8.1", "resolved": "https://registry.npmjs.org/rxjs/-/rxjs-7.8.1.tgz", @@ -1751,6 +2154,18 @@ "node": ">=6" } }, + "node_modules/seek-bzip": { + "version": "1.0.6", + "resolved": "https://registry.npmjs.org/seek-bzip/-/seek-bzip-1.0.6.tgz", + "integrity": "sha512-e1QtP3YL5tWww8uKaOCQ18UxIT2laNBXHjV/S2WYCiK4udiv8lkG89KRIoCjUagnAmCBurjF4zEVX2ByBbnCjQ==", + "dependencies": { + "commander": "^2.8.1" + }, + "bin": { + "seek-bunzip": "bin/seek-bunzip", + "seek-table": "bin/seek-bzip-table" + } + }, "node_modules/semver": { "version": "5.7.1", "resolved": "https://registry.npmjs.org/semver/-/semver-5.7.1.tgz", @@ -1814,6 +2229,22 @@ "url": "https://github.com/sponsors/ljharb" } }, + "node_modules/shelljs": { + "version": "0.8.5", + "resolved": "https://registry.npmjs.org/shelljs/-/shelljs-0.8.5.tgz", + "integrity": "sha512-TiwcRcrkhHvbrZbnRcFYMLl30Dfov3HKqzp5tO5b4pt6G/SezKcYhmDg15zXVBswHmctSAQKznqNW2LO5tTDow==", + "dependencies": { + "glob": "^7.0.0", + "interpret": "^1.0.0", + "rechoir": "^0.6.2" + }, + "bin": { + "shjs": "bin/shjs" + }, + "engines": { + "node": ">=4" + } + }, "node_modules/side-channel": { "version": "1.0.4", "resolved": "https://registry.npmjs.org/side-channel/-/side-channel-1.0.4.tgz", @@ -1944,6 +2375,14 @@ "node": ">=8" } }, + "node_modules/strip-dirs": { + "version": "2.1.0", + "resolved": "https://registry.npmjs.org/strip-dirs/-/strip-dirs-2.1.0.tgz", + "integrity": "sha512-JOCxOeKLm2CAS73y/U4ZeZPTkE+gNVCzKt7Eox84Iej1LT/2pTWYpZKJuxwQpvX1LiZb1xokNR7RLfuBAa7T3g==", + "dependencies": { + "is-natural-number": "^4.0.1" + } + }, "node_modules/supports-color": { "version": "5.5.0", "resolved": "https://registry.npmjs.org/supports-color/-/supports-color-5.5.0.tgz", @@ -1955,6 +2394,44 @@ "node": ">=4" } }, + "node_modules/supports-preserve-symlinks-flag": { + "version": "1.0.0", + "resolved": "https://registry.npmjs.org/supports-preserve-symlinks-flag/-/supports-preserve-symlinks-flag-1.0.0.tgz", + "integrity": "sha512-ot0WnXS9fgdkgIcePe6RHNk1WA8+muPa6cSjeR3V8K27q9BB1rTE3R1p7Hv0z1ZyAc8s6Vvv8DIyWf681MAt0w==", + "engines": { + "node": ">= 0.4" + }, + "funding": { + "url": "https://github.com/sponsors/ljharb" + } + }, + "node_modules/tar-stream": { + "version": "1.6.2", + "resolved": "https://registry.npmjs.org/tar-stream/-/tar-stream-1.6.2.tgz", + "integrity": "sha512-rzS0heiNf8Xn7/mpdSVVSMAWAoy9bfb1WOTYC78Z0UQKeKa/CWS8FOq0lKGNa8DWKAn9gxjCvMLYc5PGXYlK2A==", + "dependencies": { + "bl": "^1.0.0", + "buffer-alloc": "^1.2.0", + "end-of-stream": "^1.0.0", + "fs-constants": "^1.0.0", + "readable-stream": "^2.3.0", + "to-buffer": "^1.1.1", + "xtend": "^4.0.0" + }, + "engines": { + "node": ">= 0.8.0" + } + }, + "node_modules/through": { + "version": "2.3.8", + "resolved": "https://registry.npmjs.org/through/-/through-2.3.8.tgz", + "integrity": "sha512-w89qg7PI8wAdvX60bMDP+bFoD5Dvhm9oLheFp5O4a2QF0cSBGsBX4qZmadPMvVqlLJBBci+WqGGOAPvcDeNSVg==" + }, + "node_modules/to-buffer": { + "version": "1.1.1", + "resolved": "https://registry.npmjs.org/to-buffer/-/to-buffer-1.1.1.tgz", + "integrity": "sha512-lx9B5iv7msuFYE3dytT+KE5tap+rNYw+K4jVkb9R/asAb+pbBSM17jtunHplhBe6RRJdZx3Pn2Jph24O32mOVg==" + }, "node_modules/to-regex-range": { "version": "5.0.1", "resolved": "https://registry.npmjs.org/to-regex-range/-/to-regex-range-5.0.1.tgz", @@ -2081,6 +2558,15 @@ "node": ">=4.2.0" } }, + "node_modules/unbzip2-stream": { + "version": "1.4.3", + "resolved": "https://registry.npmjs.org/unbzip2-stream/-/unbzip2-stream-1.4.3.tgz", + "integrity": "sha512-mlExGW4w71ebDJviH16lQLtZS32VKqsSfk80GCfUlwT/4/hNRFsoscrF/c++9xinkMzECL1uL9DDwXqFWkruPg==", + "dependencies": { + "buffer": "^5.2.1", + "through": "^2.3.8" + } + }, "node_modules/undefsafe": { "version": "2.0.5", "resolved": "https://registry.npmjs.org/undefsafe/-/undefsafe-2.0.5.tgz", @@ -2166,6 +2652,11 @@ "url": "https://github.com/chalk/wrap-ansi?sponsor=1" } }, + "node_modules/wrappy": { + "version": "1.0.2", + "resolved": "https://registry.npmjs.org/wrappy/-/wrappy-1.0.2.tgz", + "integrity": "sha512-l4Sp/DRseor9wL6EvV2+TuQn63dMkPjZ/sp9XkghTEbV9KlPS1xUsZ3u7/IQO4wxtcFB4bgpQPRcR3QCvezPcQ==" + }, "node_modules/xtend": { "version": "4.0.2", "resolved": "https://registry.npmjs.org/xtend/-/xtend-4.0.2.tgz", @@ -2207,6 +2698,15 @@ "node": ">=12" } }, + "node_modules/yauzl": { + "version": "2.10.0", + "resolved": "https://registry.npmjs.org/yauzl/-/yauzl-2.10.0.tgz", + "integrity": "sha512-p4a9I6X6nu6IhoGmBqAcbJy1mlC4j27vEPZX9F4L4/vZT3Lyq1VkFHw/V/PUcB9Buo+DG3iHkT0x3Qya58zc3g==", + "dependencies": { + "buffer-crc32": "~0.2.3", + "fd-slicer": "~1.1.0" + } + }, "node_modules/yn": { "version": "3.1.1", "resolved": "https://registry.npmjs.org/yn/-/yn-3.1.1.tgz", diff --git a/asp-review-app/server/package.json b/asp-review-app/server/package.json index 48cfdf5..9f67de8 100644 --- a/asp-review-app/server/package.json +++ b/asp-review-app/server/package.json @@ -6,7 +6,7 @@ "type": "module", "scripts": { "build": "npx tsc", - "start": "node dist/index.js", + "start": "npx tsc && node --experimental-specifier-resolution=node dist/server.js", "dev": "nodemon --exec ts-node --esm --transpileOnly ./src/server.ts" }, "keywords": [], @@ -28,6 +28,7 @@ "compression": "^1.7.4", "concurrently": "^8.0.1", "cors": "^2.8.5", + "decompress": "^4.2.1", "express": "^4.18.2", "express-cross": "^1.0.0", "express-fileupload": "^1.4.0", @@ -38,6 +39,7 @@ "multer": "^1.4.5-lts.1", "node-stream-zip": "^1.15.0", "nodemon": "^2.0.22", + "shelljs": "^0.8.5", "ts-node": "^10.9.1" } } diff --git a/asp-review-app/server/src/app.ts b/asp-review-app/server/src/app.ts index 9d8dfda..cf8e430 100644 --- a/asp-review-app/server/src/app.ts +++ b/asp-review-app/server/src/app.ts @@ -17,8 +17,11 @@ const corsOptions = { }; export class App { public app: express.Application; + public port: string | number; + public env: string; + constructor(routes: Routes[], port) { this.app = express(); this.port = port; @@ -50,7 +53,6 @@ export class App { this.app.use(express.urlencoded({ extended: true })); this.app.use(bodyParser.json()); this.app.use(bodyParser.urlencoded({ extended: true })); - console.log(dirname + '/public/') this.app.use(express.static(dirname + '/public/')); this.app.use(fileUpload({ createParentPath: true @@ -62,8 +64,8 @@ export class App { this.app.use("/", route.router); }); } + loadAppDependencies() { - locator(new DevEnv()); } } \ No newline at end of file diff --git a/asp-review-app/server/src/core/di/register_di.ts b/asp-review-app/server/src/core/di/register_di.ts index ad79975..77f2abe 100644 --- a/asp-review-app/server/src/core/di/register_di.ts +++ b/asp-review-app/server/src/core/di/register_di.ts @@ -5,20 +5,24 @@ import { AssemblyController } from "../../features/assembly_create/assembly_crea import { AssemblyPreviewsController } from "../../features/assembly_previews/assembly_previews_controller"; import { EntityRepository } from "../repository/entity_repository"; import { ZipRepository } from "../repository/zip_repository"; +import { ComputeRepository } from "../repository/compute_repository"; export const locator = (env: Env) => { // override(Env, env) - registerRepository(env) registerController(env) + registerRepository(env) + }; const registerRepository = (env:Env) => { + override(ZipRepository, ZipRepository); - override(EntityRepository, EntityRepository) + override(EntityRepository, EntityRepository); + override(ComputeRepository,ComputeRepository); } const registerController = (env: Env) => { override(AssemblyController,AssemblyController) - override(AssemblyPreviewsController, AssemblyController) + override(AssemblyPreviewsController, AssemblyPreviewsController) } \ No newline at end of file diff --git a/asp-review-app/server/src/core/helper/memorization.ts b/asp-review-app/server/src/core/helper/memorization.ts index 0d5e87a..b936460 100644 --- a/asp-review-app/server/src/core/helper/memorization.ts +++ b/asp-review-app/server/src/core/helper/memorization.ts @@ -1,8 +1,4 @@ interface MemoOptions { - /** - * Serialize the function call arguments - * This is used to identify cache key - */ serialize?: (...args: Parameters) => S; } interface MemoAsyncOptions extends MemoOptions { @@ -22,16 +18,12 @@ type Fn = (...params: any[]) => any; type AsyncFn = (...params: any[]) => Promise; interface MemoFunc { - // Call the target function, if cache is valid, return cache (...args: Parameters): ReturnType; - // Same with this function get(...args: Parameters): ReturnType; - // Call the raw function and skip cache raw(...args: Parameters): ReturnType; - // Clear cache clear(...args: Parameters | []): void | Promise; } @@ -126,7 +118,6 @@ export function memoAsync( const root = makeNode(); const memoFunc = async function (...args: Parameters) { - // Serialize args const path = options.serialize ? options.serialize(...args) : args; const cur = walkAndCreate(root, path); @@ -155,7 +146,6 @@ export function memoAsync( await options.external.set(args, value); } - // Resolve other waiting callbacks for (const callback of cur.callbacks ?? []) { callback.res(value); } @@ -165,7 +155,6 @@ export function memoAsync( cur.state = State.Error; cur.error = error; - // Reject other waiting callbacks for (const callback of cur.callbacks ?? []) { callback.rej(error); } diff --git a/asp-review-app/server/src/core/middlewares/ValidationMiddleware.ts b/asp-review-app/server/src/core/middlewares/ValidationMiddleware.ts index d9ca9ca..d1ee527 100644 --- a/asp-review-app/server/src/core/middlewares/ValidationMiddleware.ts +++ b/asp-review-app/server/src/core/middlewares/ValidationMiddleware.ts @@ -11,7 +11,6 @@ const validationMiddleware = ( forbidNonWhitelisted = true, ): RequestHandler => { return (req, res, next) => { - console.log(req[value]) validate(plainToClass(type, req[value]), { skipMissingProperties, whitelist, forbidNonWhitelisted }).then((errors: ValidationError[]) => { if (errors.length > 0) { const message = errors.map((error: ValidationError) => Object.values(error.constraints)).join(', '); diff --git a/asp-review-app/server/src/core/repository/compute_repository.ts b/asp-review-app/server/src/core/repository/compute_repository.ts index eda546b..2b6ac30 100644 --- a/asp-review-app/server/src/core/repository/compute_repository.ts +++ b/asp-review-app/server/src/core/repository/compute_repository.ts @@ -1,3 +1,76 @@ -export class ComputeRepository{ - -} \ No newline at end of file +import { reflection } from 'first-di'; +import "reflect-metadata"; +import { promises as fs } from 'fs'; +import { async } from 'node-stream-zip'; +import * as cp from 'child_process'; + +import path from 'path'; + +async function exec(cmd: string, opts: (cp.ExecOptions & { trim?: boolean }) = {}): Promise { + return new Promise((c, e) => { + cp.exec(cmd, { env: process.env, ...opts }, (err, stdout) => err ? e(err) : c(opts.trim ? stdout.trim() : stdout)); + }); +} + +@reflection +export class ComputeRepository { + public computedAdjaxedMatrix = async (outPath: string, cadEntity: string, entityId: string) => { + const envPath = '/home/idontsudo/t/framework/asp-review-app/server/computed/geometric_feasibility_predicate/env.json' + const computedScript = '/home/idontsudo/t/framework/asp-review-app/server/computed/geometric_feasibility_predicate/main.py' + const computedComand = 'freecadcmd' + + const env = JSON.parse((await fs.readFile(envPath)).toString()) + env['cadFilePath'] = cadEntity + env['outPath'] = outPath + await fs.writeFile(envPath, JSON.stringify(env)) + // console.log(this._computedPath(computedScript)) + exec(computedComand + ' ' + computedScript, { cwd: this._computedPath(computedScript) }).then((data) => { + console.log(data) + }) + this.cadGeneration(cadEntity, entityId, outPath) + // if (stderr) { + // console.log(stderr) + // } + // console.log(stdout) + }; + public computedWriteStability = async (assemblyFolder: string, buildNumber: string, id: string) => { + const computedScript = '/home/idontsudo/t/framework/cad_stability_input/main.py' + const computedComand = 'freecad' + const envPath = '/home/idontsudo/t/framework/cad_stability_input/env.json' + const env = JSON.parse((await fs.readFile(envPath)).toString()) + env.assemblyFolder = assemblyFolder + env['projectId'] = id + env['buildNumber'] = buildNumber + env['assemblyFolder'] = assemblyFolder + env['resultURL'] = 'http://localhost:3002/assembly/stabilty/create/?id=' + id + '&' + 'buildNumber=' + buildNumber + + await fs.writeFile(envPath, JSON.stringify(env)) + await exec(computedComand + ' ' + computedScript, { cwd: this._computedPath(computedScript) }) + } + + private _computedPath(f: string) { + + const file = path.basename(f); + const absolutPath = path.resolve(f) + return absolutPath.replace(file, '') + } + + public cadGeneration = async (cadEntity, entity: string, outPath: string,) => { + const computedScript = '/home/idontsudo/t/framework/cad_generation/main.py' + const computedComand = 'freecad' + const envPath = '/home/idontsudo/t/framework/cad_generation/env.json' + + const env = JSON.parse((await fs.readFile(envPath)).toString()) + env.doc = cadEntity + env.projectId = entity + env.resultURL = "http://localhost:3002/assembly/save/out" + + await fs.writeFile(envPath, JSON.stringify(env)) + // /stabilty/create + + exec(computedComand + ' ' + computedScript, { cwd: this._computedPath(computedScript) }).then((data) => { + console.log(data) + }) + } + +} diff --git a/asp-review-app/server/src/core/repository/entity_repository.ts b/asp-review-app/server/src/core/repository/entity_repository.ts index 97277e6..cea7376 100644 --- a/asp-review-app/server/src/core/repository/entity_repository.ts +++ b/asp-review-app/server/src/core/repository/entity_repository.ts @@ -1,49 +1,86 @@ import { promises as fs } from 'fs'; import { dirname } from '../../app'; import fsSync from "fs"; -import { constants } from 'buffer'; +import { autowired, reflection } from 'first-di'; +import "reflect-metadata"; +import { ComputeRepository } from './compute_repository'; +import { ZipRepository } from './zip_repository'; +@reflection export class EntityRepository { - private path: String = dirname + '/public/' - private getFileName(file: String) { + @autowired() + private readonly computedRepository: ComputeRepository; + @autowired() + private readonly zipRepository: ZipRepository; + + private path: String = dirname + '/public/' + + + private getFileName(file: String) { return file.slice(0, file.indexOf('.')) } - public async getDir(path){ + + public async getDir(path) { return this._fullPath(await fs.readdir(path + ''), duplicatedDelete(this.path, path)) } - public isExistDirPath(path:String):boolean{ + + public isExistDirPath(path: String): boolean { return fsSync.existsSync(path + '') } + public async saveRootEntity(buffer: Buffer, name: string) { const filePath = this.path + this.getFileName(name) + '/' - + if (this.isExistDirPath(filePath)) { await fs.rm(filePath, { recursive: true }) } await fs.mkdir(filePath); await fs.writeFile(filePath + name, buffer); + this.computedRepository.computedAdjaxedMatrix(filePath, filePath + name, this.getFileName(name)) } + public async getAllRootEntity() { return await fs.readdir('' + this.path) } - public async getEntityStorage(entity: string):Promise | undefined { - return this._fullPath(await fs.readdir(this.path + entity), entity + '/' ) + + public async getEntityStorage(entity: string): Promise | undefined { + return this._fullPath(await fs.readdir(this.path + entity), entity + '/') } - private _fullPath(folderPath,helpElement = '') { - return folderPath.map((el) => this.path + helpElement + el ) + private _fullPath(folderPath, helpElement = '') { + return folderPath.map((el) => this.path + helpElement + el) } public async readJson(path) { - return JSON.parse((await fs.readFile(path)).toString()) } + public async saveGeration(data: Buffer, id: String) { + const rootFolderPath = '' + this.path + id + '/' + console.log(rootFolderPath) + this.zipRepository.archive(rootFolderPath, data) + } + public computedStability(id: string, buildNumber: string) { + const assemblyFolder = this.path + id + '/generation/' + this.computedRepository.computedWriteStability(assemblyFolder, buildNumber, id) + } + public async saveStability(zip: Buffer, id:string, buildNumber:string) { + const filePath = await this.zipRepository.archive(this.path as string, zip) + // const buildNumber = data['buildNumber'] + const assemblyFolder = this.path + id + '/generation/stability/' + + if (!this.isExistDirPath(assemblyFolder)) { + await fs.mkdir(assemblyFolder); + } + await this.zipRepository.archive(assemblyFolder as string, zip, buildNumber) + fs.rmdir(filePath + '/', { recursive: true}) + + } } -function duplicatedDelete(strChild:String,strMain:String){ +function duplicatedDelete(strChild: String, strMain: String) { let result = '' - for(let i = 0;i < strMain.length; i++){ - if(!(strMain[i] === strChild[i])){ - result+=strMain[i] + for (let i = 0; i < strMain.length; i++) { + if (!(strMain[i] === strChild[i])) { + result += strMain[i] } } return result diff --git a/asp-review-app/server/src/core/repository/zip_repository.ts b/asp-review-app/server/src/core/repository/zip_repository.ts index c27de1b..25efe1c 100644 --- a/asp-review-app/server/src/core/repository/zip_repository.ts +++ b/asp-review-app/server/src/core/repository/zip_repository.ts @@ -1,3 +1,13 @@ +import StreamZip from 'node-stream-zip'; +import { promises as fs } from 'fs'; +import decompress from 'decompress' + export class ZipRepository { - + public async archive(outhPath: string, zipFile: Buffer, name='generation') { + const entry = outhPath + 'archive.zip' + await fs.writeFile(entry, zipFile) + await decompress(entry, outhPath + name); + fs.rm(entry) + return outhPath + name + } } \ No newline at end of file diff --git a/asp-review-app/server/src/features/assembly_create/assembly_create_controller.ts b/asp-review-app/server/src/features/assembly_create/assembly_create_controller.ts index f229694..77e0a8b 100644 --- a/asp-review-app/server/src/features/assembly_create/assembly_create_controller.ts +++ b/asp-review-app/server/src/features/assembly_create/assembly_create_controller.ts @@ -1,36 +1,101 @@ -import { NextFunction, Request, Response } from 'express'; -import { autowired } from 'first-di'; - -import "reflect-metadata"; -import { dirname } from '../../app'; -import { EntityRepository } from '../../core/repository/entity_repository'; -import { IFile } from './model/zip_files_model'; - +import { NextFunction, Request, Response } from "express"; +import { autowired } from "first-di"; +import { async } from "node-stream-zip"; +import { EntityRepository } from "../../core/repository/entity_repository"; +import { IFile } from "./model/zip_files_model"; export class AssemblyController { - public getAllAssembly = (req: Request, res: Response, next: NextFunction): void => { - throw new Error('Method not implemented.'); - } - - @autowired() - private readonly fsRepository: EntityRepository; - - public createAssembly = (req: Request, res: Response, next: NextFunction): void => { + private readonly entityRepository: EntityRepository; + + public createRootEntity = ( + req: Request, + res: Response, + next: NextFunction + ) => { + const file = req.files; + const cadFile = file["freecad"] as IFile; + + this.entityRepository.saveRootEntity(cadFile.data, cadFile.name); + + res.status(200).json("ok"); + return; + }; + + public getAllAssembly = ( + req: Request, + res: Response, + next: NextFunction + ): void => { }; + + public createAssembly = ( + req: Request, + res: Response, + next: NextFunction + ): void => { try { const file = req.files.freecad as IFile; const buffer = file.data as Buffer; - console.log(file.data) - // console.log(files.freecad.data) - // const filePath = dirname + '/' + files.freecad.name as string; - this.fsRepository.saveRootEntity(file.data, file.name) - // console.log(filePath) - + this.entityRepository.saveRootEntity(file.data, file.name); res.sendStatus(200); } catch (error) { next(error); } }; -} - \ No newline at end of file + + public test = (req: Request, + res: Response, + next: NextFunction) => { + try { + const file = req.files; + + const generation = file["zip"] as IFile; + const id = 'cubes'; + + this.entityRepository.saveGeration(generation.data, id) + res.sendStatus(200); + } catch (error) { + next(error); + } + } + + public stabilityComputed = async ( + req: Request, + res: Response, + next: NextFunction + ) => { + try { + // const file = req.files; + console.log(req.body) + const id = req.body.id; + // console.log(req.query.id) + const buildNumber = req.body.buildNumber; + console.log(buildNumber) + console.log(id) + // const generation = file["zip"] as IFile; + // const id = 'cubes'; + + await this.entityRepository.computedStability(id, buildNumber) + res.sendStatus(200); + } catch (error) { + next(error); + } + } + + public stabilityCreate = ( + req: Request, + res: Response, + next: NextFunction + ) => { + try { + const files = req.files; + const zip = files['zip'] as IFile + const query = req.query as any + this.entityRepository.saveStability(zip.data, query.id, query.buildNumber) + res.sendStatus(200); + } catch (error) { + next(error); + } + } +} diff --git a/asp-review-app/server/src/features/assembly_create/assembly_create_route.ts b/asp-review-app/server/src/features/assembly_create/assembly_create_route.ts index 4449101..43fefe1 100644 --- a/asp-review-app/server/src/features/assembly_create/assembly_create_route.ts +++ b/asp-review-app/server/src/features/assembly_create/assembly_create_route.ts @@ -1,26 +1,46 @@ - -import express, { Router } from 'express'; -import { Routes } from '../../core/interfaces/router'; -import { autowired } from 'first-di'; -import { AssemblyController } from './assembly_create_controller'; -import path from 'path'; -import { dirname } from '../../app'; -import validationMiddleware from '../../core/middlewares/ValidationMiddleware'; -import { CadFilesModel } from './model/zip_files_model'; +import express, { Router } from "express"; +import { Routes } from "../../core/interfaces/router"; +import { autowired } from "first-di"; +import { AssemblyController } from "./assembly_create_controller"; +import validationMiddleware from "../../core/middlewares/ValidationMiddleware"; +import { CadFilesModel } from "./model/zip_files_model"; export class AssemblyRoute implements Routes { - public path = '/assembly'; - public router = Router(); - @autowired() - private readonly assemblyController: AssemblyController; - constructor() { - this.initializeRoutes(); - } + public path = "/assembly"; + public router = Router(); + + @autowired() + private readonly assemblyController: AssemblyController; + + constructor() { + this.initializeRoutes(); + } - private initializeRoutes() { - // this.router.use(`${this.path}`, express.static(path.join(dirname, '../../public'))); - this.router.post(`${this.path}`, validationMiddleware(CadFilesModel, 'files'), this.assemblyController.createAssembly) + private initializeRoutes() { + this.router.post( + `${this.path}`, + validationMiddleware(CadFilesModel, "files"), + this.assemblyController.createAssembly + ); + this.router.post( + `${this.path}/save/out`, + // validationMiddleware(CadFilesModel, "files"), + this.assemblyController.test + ); - this.router.get(`${this.path}`, this.assemblyController.getAllAssembly) - } -} \ No newline at end of file + this.router.get(`${this.path}`, this.assemblyController.getAllAssembly); + + this.router.post( + `${this.path}/create`, + this.assemblyController.createRootEntity + ); + this.router.post( + `${this.path}/stability/write/computed`, + this.assemblyController.stabilityComputed + ); + this.router.post( + `${this.path}/stabilty/create/`, + this.assemblyController.stabilityCreate + ); + } +} diff --git a/asp-review-app/server/src/features/assembly_create/model/zip_files_model.ts b/asp-review-app/server/src/features/assembly_create/model/zip_files_model.ts index 243f69c..99956e0 100644 --- a/asp-review-app/server/src/features/assembly_create/model/zip_files_model.ts +++ b/asp-review-app/server/src/features/assembly_create/model/zip_files_model.ts @@ -1,4 +1,5 @@ import { IsArray, IsObject } from "class-validator"; + export interface IFile { name: string, data: Buffer, @@ -9,9 +10,11 @@ export interface IFile { mimetype: string, md5: string, } + interface ICadFileModel { freecad: IFile; } + export class CadFilesModel implements ICadFileModel { @IsObject() public freecad: IFile; diff --git a/asp-review-app/server/src/features/assembly_previews/assembly_previews_controller.ts b/asp-review-app/server/src/features/assembly_previews/assembly_previews_controller.ts index b071b9f..68429e0 100644 --- a/asp-review-app/server/src/features/assembly_previews/assembly_previews_controller.ts +++ b/asp-review-app/server/src/features/assembly_previews/assembly_previews_controller.ts @@ -3,10 +3,7 @@ import { autowired } from "first-di"; import { EntityRepository } from "../../core/repository/entity_repository"; import { port } from "../../server"; import { memoAsync } from "../../core/helper/memorization"; - -import "reflect-metadata"; -import { async } from "node-stream-zip"; - + export class AssemblyPreviewsController { @autowired() private readonly entityRepository: EntityRepository; @@ -32,8 +29,9 @@ export class AssemblyPreviewsController { const entity = await this.entityRepository.getEntityStorage( req.params.id ); + const aspUsage = Number(req.query.count) - 1; - console.log(aspUsage); + if (entity === undefined) { res.status(404).json("entity not found"); return; @@ -59,10 +57,13 @@ export class AssemblyPreviewsController { next: NextFunction ) => { const entity = await this.entityRepository.getEntityStorage(req.params.id); + const aspUsage = Number(req.query.count); + const assemblyFolder = entity.find((el) => { return el.match("assembly"); }); + const asmCountFolder = "0000" + aspUsage; const assemblyDirPath = assemblyFolder + "/" + asmCountFolder; @@ -70,12 +71,15 @@ export class AssemblyPreviewsController { if (!this.entityRepository.isExistDirPath(assemblyDirPath)) { return res.status(400).json({ error: "bad request" }); } + const assemblyProcessDir = await this.entityRepository.getDir( assemblyDirPath + "/process/" ); + const firstObj = assemblyProcessDir.find((el) => { return el.match("1.obj"); }); + const zeroObj = await assemblyProcessDir.find((el) => { return el.match("0.obj"); }); @@ -148,4 +152,5 @@ export class AssemblyPreviewsController { }; } } + } diff --git a/asp-review-app/server/src/features/assembly_previews/assembly_previews_route.ts b/asp-review-app/server/src/features/assembly_previews/assembly_previews_route.ts index ef326cd..c12658c 100644 --- a/asp-review-app/server/src/features/assembly_previews/assembly_previews_route.ts +++ b/asp-review-app/server/src/features/assembly_previews/assembly_previews_route.ts @@ -12,16 +12,16 @@ export class AssemblyPreviewsRoute implements Routes { public path = '/assembly/preview/'; public router = Router(); @autowired() - private readonly assemblyController: AssemblyPreviewsController; + private readonly assemblyPreviewsController: AssemblyPreviewsController; constructor() { this.initializeRoutes(); } private initializeRoutes() { - this.router.get(`${this.path}`, this.assemblyController.getAllAssembly); + this.router.get(`${this.path}`, this.assemblyPreviewsController.getAllAssembly); // this.router.get(`${this.path}`) - this.router.get(`${this.path}subsequence/:id`, this.assemblyController.getAssemblySubsequenceById) - this.router.get(`${this.path}insertion_sequence/:id`, this.assemblyController.getAssemblyInsertionSequenceById) + this.router.get(`${this.path}subsequence/:id`, this.assemblyPreviewsController.getAssemblySubsequenceById) + this.router.get(`${this.path}insertion_sequence/:id`, this.assemblyPreviewsController.getAssemblyInsertionSequenceById) // this.router.post(`${this.path}`, validationMiddleware(CadFilesModel, 'files'), this.assemblyController.createAssembly) // this.router.get(`${this.path}`, this.assemblyController.getAllAssembly) diff --git a/asp-review-app/ui/package-lock.json b/asp-review-app/ui/package-lock.json index ab05d8c..519297f 100644 --- a/asp-review-app/ui/package-lock.json +++ b/asp-review-app/ui/package-lock.json @@ -17,8 +17,8 @@ "@testing-library/user-event": "^13.2.1", "@types/jest": "^27.0.1", "@types/node": "^16.7.13", - "@types/react": "^18.0.0", - "@types/react-dom": "^18.0.0", + "@types/react": "18.0.25", + "@types/react-dom": "18.0.9", "antd": "^5.5.2", "babel-jest": "^27.4.2", "babel-loader": "^8.2.3", @@ -55,16 +55,21 @@ "postcss-normalize": "^10.0.1", "postcss-preset-env": "^7.0.1", "prompts": "^2.4.2", - "react": "^16.12.0", + "react": "18.0.0", "react-app-polyfill": "^3.0.0", "react-dev-utils": "^12.0.1", - "react-dom": "^16.12.0", + "react-dom": "18.0.0", "react-i18next": "^12.2.0", "react-refresh": "^0.11.0", "react-router-dom": "^6.11.2", "react-three-fiber": "^6.0.13", "resolve": "^1.20.0", "resolve-url-loader": "^4.0.0", + "rete": "2.0.0-beta.9", + "rete-area-plugin": "2.0.0-beta.12", + "rete-connection-plugin": "2.0.0-beta.16", + "rete-react-render-plugin": "2.0.0-beta.22", + "rete-render-utils": "2.0.0-beta.12", "sass-loader": "^12.3.0", "semver": "^7.3.5", "sort-by": "^1.2.0", @@ -110,9 +115,9 @@ } }, "node_modules/@ant-design/cssinjs": { - "version": "1.9.1", - "resolved": "https://registry.npmjs.org/@ant-design/cssinjs/-/cssinjs-1.9.1.tgz", - "integrity": "sha512-CZt1vCMs/sY7RoacYuIkZwQmb8Bhp99ReNNE9Y8lnUzik8fmCdKAQA7ecvVOFwmNFdcBHga7ye/XIRrsbkiqWw==", + "version": "1.10.1", + "resolved": "https://registry.npmjs.org/@ant-design/cssinjs/-/cssinjs-1.10.1.tgz", + "integrity": "sha512-PSoJS8RMzn95ZRg007dJGr6AU0Zim/O+tTN0xmXmh9CkIl4y3wuOr2Zhehaj7s130wPSYDVvahf3DKT50w/Zhw==", "dependencies": { "@babel/runtime": "^7.11.1", "@emotion/hash": "^0.8.0", @@ -2370,6 +2375,27 @@ "resolved": "https://registry.npmjs.org/@emotion/hash/-/hash-0.8.0.tgz", "integrity": "sha512-kBJtf7PH6aWwZ6fka3zQ0p6SBYzx4fl1LoZXE2RrnYST9Xljm7WfKJrU4g/Xr3Beg72MLrp1AWNUmuYJTL7Cow==" }, + "node_modules/@emotion/is-prop-valid": { + "version": "1.2.1", + "resolved": "https://registry.npmjs.org/@emotion/is-prop-valid/-/is-prop-valid-1.2.1.tgz", + "integrity": "sha512-61Mf7Ufx4aDxx1xlDeOm8aFFigGHE4z+0sKCa+IHCeZKiyP9RLD0Mmx7m8b9/Cf37f7NAvQOOJAbQQGVr5uERw==", + "peer": true, + "dependencies": { + "@emotion/memoize": "^0.8.1" + } + }, + "node_modules/@emotion/memoize": { + "version": "0.8.1", + "resolved": "https://registry.npmjs.org/@emotion/memoize/-/memoize-0.8.1.tgz", + "integrity": "sha512-W2P2c/VRW1/1tLox0mVUalvnWXxavmv/Oum2aPsRcoDJuob75FC3Y8FbpfLwUegRcxINtGUMPq0tFCvYNTBXNA==", + "peer": true + }, + "node_modules/@emotion/stylis": { + "version": "0.8.5", + "resolved": "https://registry.npmjs.org/@emotion/stylis/-/stylis-0.8.5.tgz", + "integrity": "sha512-h6KtPihKFn3T9fuIrwvXXUOwlx3rfUvfZIcP5a6rh8Y7zjE3O06hT5Ss4S/YI1AYhuZ1kjaE/5EaOOI2NqSylQ==", + "peer": true + }, "node_modules/@emotion/unitless": { "version": "0.7.5", "resolved": "https://registry.npmjs.org/@emotion/unitless/-/unitless-0.7.5.tgz", @@ -3048,9 +3074,9 @@ } }, "node_modules/@rc-component/mini-decimal": { - "version": "1.0.1", - "resolved": "https://registry.npmjs.org/@rc-component/mini-decimal/-/mini-decimal-1.0.1.tgz", - "integrity": "sha512-9N8nRk0oKj1qJzANKl+n9eNSMUGsZtjwNuDCiZ/KA+dt1fE3zq5x2XxclRcAbOIXnZcJ53ozP2Pa60gyELXagA==", + "version": "1.1.0", + "resolved": "https://registry.npmjs.org/@rc-component/mini-decimal/-/mini-decimal-1.1.0.tgz", + "integrity": "sha512-jS4E7T9Li2GuYwI6PyiVXmxTiM6b07rlD9Ge8uGZSCz3WlzcG5ZK7g5bbuKNeZ9pgUuPK/5guV781ujdVpm4HQ==", "dependencies": { "@babel/runtime": "^7.18.0" }, @@ 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"resolved": "https://registry.npmjs.org/stylehacks/-/stylehacks-5.1.1.tgz", @@ -15985,6 +16182,19 @@ "requires-port": "^1.0.0" } }, + "node_modules/usehooks-ts": { + "version": "2.9.1", + "resolved": "https://registry.npmjs.org/usehooks-ts/-/usehooks-ts-2.9.1.tgz", + "integrity": "sha512-2FAuSIGHlY+apM9FVlj8/oNhd+1y+Uwv5QNkMQz1oSfdHk4PXo1qoCw9I5M7j0vpH8CSWFJwXbVPeYDjLCx9PA==", + "engines": { + "node": ">=16.15.0", + "npm": ">=8" + }, + "peerDependencies": { + "react": "^16.8.0 || ^17.0.0 || ^18.0.0", + "react-dom": "^16.8.0 || ^17.0.0 || ^18.0.0" + } + }, "node_modules/util-deprecate": { "version": "1.0.2", "resolved": "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz", diff --git a/asp-review-app/ui/package.json b/asp-review-app/ui/package.json index 20ac1dd..cff1c44 100644 --- a/asp-review-app/ui/package.json +++ b/asp-review-app/ui/package.json @@ -12,8 +12,8 @@ "@testing-library/user-event": "^13.2.1", "@types/jest": "^27.0.1", "@types/node": "^16.7.13", - "@types/react": "^18.0.0", - "@types/react-dom": "^18.0.0", + "@types/react": "18.0.25", + "@types/react-dom": "18.0.9", "antd": "^5.5.2", "babel-jest": "^27.4.2", "babel-loader": "^8.2.3", @@ -50,16 +50,21 @@ "postcss-normalize": "^10.0.1", "postcss-preset-env": "^7.0.1", "prompts": "^2.4.2", - "react": "^16.12.0", + "react": "18.0.0", "react-app-polyfill": "^3.0.0", "react-dev-utils": "^12.0.1", - "react-dom": "^16.12.0", + "react-dom": "18.0.0", "react-i18next": "^12.2.0", "react-refresh": "^0.11.0", "react-router-dom": "^6.11.2", "react-three-fiber": "^6.0.13", "resolve": "^1.20.0", "resolve-url-loader": "^4.0.0", + "rete": "2.0.0-beta.9", + "rete-area-plugin": "2.0.0-beta.12", + "rete-connection-plugin": "2.0.0-beta.16", + "rete-react-render-plugin": "2.0.0-beta.22", + "rete-render-utils": "2.0.0-beta.12", "sass-loader": "^12.3.0", "semver": "^7.3.5", "sort-by": "^1.2.0", diff --git a/asp-review-app/ui/src/App.css b/asp-review-app/ui/src/App.css index 8e01787..3991e48 100644 --- a/asp-review-app/ui/src/App.css +++ b/asp-review-app/ui/src/App.css @@ -6,7 +6,39 @@ .root{ + overflow-y: hidden; +} +.centeredDiv{ + width: 100vw; display: flex; + justify-content: center; +} +.projects-container{ + width: 100%; + background-color: aliceblue; + display: flex; + flex-direction: column; + justify-content: space-evenly; + align-items: center; + overflow-y:hidden; +} +.centeredContainer{ + display: flex; + flex-direction: column; + align-content: center; + align-items: center; +} +label { + background-color: indigo; + color: white; + padding: 0.5rem; + font-family: sans-serif; + border-radius: 0.3rem; + cursor: pointer; + margin-top: 1rem; } - \ No newline at end of file +#file-chosen{ + margin-left: 0.3rem; + font-family: sans-serif; +} \ No newline at end of file diff --git a/asp-review-app/ui/src/core/repository/http_repository.ts b/asp-review-app/ui/src/core/repository/http_repository.ts index 5908cd5..3f2eed3 100644 --- a/asp-review-app/ui/src/core/repository/http_repository.ts +++ b/asp-review-app/ui/src/core/repository/http_repository.ts @@ -2,21 +2,34 @@ export enum HttpMethod { GET = 'GET', POST = 'POST' } -export enum HttpRoute{ +export enum HttpRoute { insertionPath = '/assembly/preview/insertion_sequence/', assemblyPreviewPath = '/assembly/preview/subsequence/', - projects = '/assembly/preview' + projects = '/assembly/preview', + createProject = '/assembly/create', + ajaxMatrix = 'matrix.json' } export class HttpRepository { static server = 'http://localhost:3002' - static async jsonRequest(method: HttpMethod, url: string, data?: any):Promise { + static async jsonRequest(method: HttpMethod, url: string, data?: any): Promise { const reqInit = { 'body': data, 'method': method, + 'headers': { 'Content-Type': 'application/json' }, } if (data !== undefined) { reqInit['body'] = JSON.stringify(data) } return (await fetch(this.server + url, reqInit)).json() } + static async request(method: HttpMethod, url: string, data?: any): Promise { + const reqInit = { + 'body': data, + 'method': method, + } + if (data !== undefined) { + reqInit['body'] = data + } + return (await fetch(this.server + url, reqInit)).json() + } } \ No newline at end of file diff --git a/asp-review-app/ui/src/features/all_project/all_project_screen.tsx b/asp-review-app/ui/src/features/all_project/all_project_screen.tsx index 3ba25f6..0bf8e16 100644 --- a/asp-review-app/ui/src/features/all_project/all_project_screen.tsx +++ b/asp-review-app/ui/src/features/all_project/all_project_screen.tsx @@ -6,9 +6,33 @@ import { HttpRoute, } from "../../core/repository/http_repository"; import { Button } from "antd"; -export const ProjectsPath = '/' +import { Typography } from "antd"; +import { Card } from "antd"; +import { createProjectRoute } from "../create_project/create_project"; +import { useNavigate } from "react-router-dom"; +import { pathAjaxTopologyScreen } from "../topology_ajax_preview/topology_ajax_preview"; +import { pathStabilityScreen } from "../stability_preview/stability_preview"; + +const { Text, Link, Title } = Typography; +function LinkCreateProjectPage() { + const navigate = useNavigate(); + + return ( + { + navigate(createProjectRoute); + }} + > + <> add new project? + + ); +} + +export const ProjectsPath = "/"; export const ProjectScreen: React.FunctionComponent = () => { const [projects, setProjects] = useState>([]); + const navigate = useNavigate(); useEffect(() => { async function fetchData() { @@ -22,18 +46,44 @@ export const ProjectScreen: React.FunctionComponent = () => { fetchData(); }, []); return ( -
-
Projects
+ <> +
+ Projects +
+ {projects.length === 0 ? ( +
+ Not found projects + +
+ +
+
+ ) : ( +
+ )} +
+
{projects.map((el) => { return ( <> -
{el}
- {" "} + +
{el}
+ + + + + + ); })} +
{projects.length === 0 ? <> : }
-
+ ); }; diff --git a/asp-review-app/ui/src/features/create_project/create_project.tsx b/asp-review-app/ui/src/features/create_project/create_project.tsx new file mode 100644 index 0000000..044701f --- /dev/null +++ b/asp-review-app/ui/src/features/create_project/create_project.tsx @@ -0,0 +1,72 @@ +import { Spin, Typography } from "antd"; +import * as React from "react"; +import { useNavigate } from "react-router-dom"; +import { + HttpMethod, + HttpRepository, + HttpRoute, +} from "../../core/repository/http_repository"; +import { pathStabilityScreen } from "../stability_preview/stability_preview"; + +const { Title } = Typography; + +export const createProjectRoute = "/new_project"; + +const UploadButton = () => { + const navigate = useNavigate(); + const [isLoading, setLoading] = React.useState(false); + + const handleImageChange = function (e: React.ChangeEvent) { + const fileList = e.target.files; + + if (!fileList) return; + + let file = fileList[0] as File; + uploadFile(file); + }; + + const uploadFile = async (file: File) => { + if (file) { + const formData = new FormData(); + formData.append("freecad", file, file.name); + setLoading(true); + await HttpRepository.request( + HttpMethod.POST, + HttpRoute.createProject, + formData + ); + setLoading(false); + navigate(pathStabilityScreen) + } + }; + return isLoading ? ( + <> + + + ) : ( + + ); +}; +export default function CreateProject() { + return ( +
+
+ Create new project +
+
+ +
+
+ ); +} diff --git a/asp-review-app/ui/src/features/stability_preview/stability_preview.tsx b/asp-review-app/ui/src/features/stability_preview/stability_preview.tsx new file mode 100644 index 0000000..f85b80b --- /dev/null +++ b/asp-review-app/ui/src/features/stability_preview/stability_preview.tsx @@ -0,0 +1,57 @@ + +import { Button } from 'antd'; +import * as React from 'react'; +import { useParams } from 'react-router-dom'; +import { HttpRepository, HttpMethod, HttpRoute } from '../../core/repository/http_repository'; + + +export const pathStabilityScreen = '/stability/preview/usecase/' + +interface IStabilityCheckResponce { + status: "rejected" | "fulfilled"; + value: undefined | string; + index: number; +} +interface IStability { + status: boolean; + detail: string; +} + +export const StabilityPreviewScreen: React.FunctionComponent = () => { + const id = useParams().id + const [stabilityResult, setStability] = React.useState(null); + React.useEffect(() => { + const stabilityCheck = async () => { + const result = await HttpRepository.jsonRequest>(HttpMethod.GET, '/' + id + '/generation/step-structure.json') + const promises = [] + for (let i = 0; i !== result.length; i++) { + const stabilitySubId = i + 1 + promises.push(HttpRepository.jsonRequest>(HttpMethod.GET, '/' + id + '/generation/stability/' + stabilitySubId + '/geometry.json')) + } + const stabilityCheck = await (await Promise.allSettled(promises)).map((element, index) => { + return { + status: element.status === 'fulfilled' ? true : false, + detail: result[index], + } + }) + setStability(stabilityCheck) + }; + stabilityCheck() + }, []); + return (
+ {stabilityResult != null ? (<> + {stabilityResult.map((el, index) => { + return (
{el.detail}
{el.status ? (<>Sucses) : (<>)}
) + })} + + ) : (
loading
)} + +
); +}; + + diff --git a/asp-review-app/ui/src/features/topology_ajax_preview/topology_ajax_preview.tsx b/asp-review-app/ui/src/features/topology_ajax_preview/topology_ajax_preview.tsx new file mode 100644 index 0000000..a08435f --- /dev/null +++ b/asp-review-app/ui/src/features/topology_ajax_preview/topology_ajax_preview.tsx @@ -0,0 +1,48 @@ + +import * as React from 'react'; +import { useParams } from 'react-router-dom'; +import { HttpRepository, HttpMethod, HttpRoute } from '../../core/repository/http_repository'; + + +export const pathAjaxTopologyScreen = '/topology/adjax/usecase/' +export interface IAdjaxMatrix { + allPars: string[]; + firstDetail: string; + matrix: StringMap; + matrixError: StringMap | null; +} +interface StringMap { [key: string]: string; } + + +export const MatrixTopologyAdjaxScreen: React.FunctionComponent = () => { + const [matrix, setMatrix] = React.useState(null); + const param = useParams().id + React.useEffect(() => { + async function fetchData() { + setMatrix( + await HttpRepository.jsonRequest( + HttpMethod.GET, + '/' + param + '/' + HttpRoute.ajaxMatrix + ) + ); + } + fetchData(); + }, []); + return (
+ {matrix === null ? (<>loaded) : (<> + {matrix.matrixError != null ? (<> + {Object.keys(matrix.matrixError).map((keyName, i) => { + const m = matrix.matrixError as StringMap; + return ( +
+
{m[keyName]}
+
+ ) + })} + ) : (<>Success)} + )} + +
); +}; + + diff --git a/asp-review-app/ui/src/index.tsx b/asp-review-app/ui/src/index.tsx index ddfc042..b340726 100644 --- a/asp-review-app/ui/src/index.tsx +++ b/asp-review-app/ui/src/index.tsx @@ -14,7 +14,10 @@ import { AssemblyPreviewSubsequence, AssemblyPreviewSubsequencePath, } from "./features/assembly_preview_subsequence/assembly_preview_subsequence_screen"; - +import CreateProject, { createProjectRoute } from "./features/create_project/create_project"; +import { pathAjaxTopologyScreen, MatrixTopologyAdjaxScreen } from "./features/topology_ajax_preview/topology_ajax_preview"; +import { pathStabilityScreen, StabilityPreviewScreen } from "./features/stability_preview/stability_preview"; + const rootElement = document.getElementById("root"); const router = createBrowserRouter([ @@ -22,6 +25,10 @@ const router = createBrowserRouter([ path: ProjectsPath, element: , }, + { + path:createProjectRoute, + element: + }, { path: AssemblyPreviewSubsequencePath + ":id", element: , @@ -30,5 +37,14 @@ const router = createBrowserRouter([ path: AssemblyPreviewInsertVectorPath + ":id", element: , }, + { + path: pathAjaxTopologyScreen + ":id", + element: + }, + { + path: pathStabilityScreen + ':id', + element: + } ]); + render(, rootElement); diff --git a/asp-review-app/ui/yarn.lock b/asp-review-app/ui/yarn.lock index de64e8e..c46e755 100644 --- a/asp-review-app/ui/yarn.lock +++ b/asp-review-app/ui/yarn.lock @@ -23,9 +23,9 @@ "@ctrl/tinycolor" "^3.4.0" "@ant-design/cssinjs@^1.9.1": - version "1.9.1" - resolved "https://registry.npmjs.org/@ant-design/cssinjs/-/cssinjs-1.9.1.tgz" - integrity sha512-CZt1vCMs/sY7RoacYuIkZwQmb8Bhp99ReNNE9Y8lnUzik8fmCdKAQA7ecvVOFwmNFdcBHga7ye/XIRrsbkiqWw== + version "1.10.1" + resolved "https://registry.npmjs.org/@ant-design/cssinjs/-/cssinjs-1.10.1.tgz" + integrity sha512-PSoJS8RMzn95ZRg007dJGr6AU0Zim/O+tTN0xmXmh9CkIl4y3wuOr2Zhehaj7s130wPSYDVvahf3DKT50w/Zhw== dependencies: "@babel/runtime" "^7.11.1" "@emotion/hash" "^0.8.0" @@ -217,7 +217,7 @@ dependencies: "@babel/types" "^7.21.0" -"@babel/helper-module-imports@^7.10.4", "@babel/helper-module-imports@^7.18.6", "@babel/helper-module-imports@^7.21.4": +"@babel/helper-module-imports@^7.0.0", "@babel/helper-module-imports@^7.10.4", "@babel/helper-module-imports@^7.18.6", "@babel/helper-module-imports@^7.21.4": version "7.21.4" resolved "https://registry.npmjs.org/@babel/helper-module-imports/-/helper-module-imports-7.21.4.tgz" integrity sha512-orajc5T2PsRYUN3ZryCEFeMDYwyw09c/pZeaQEZPH0MpKzSvn3e0uXsDBu3k03VI+9DBiRo+l22BfKTpKwa/Wg== @@ -1101,7 +1101,7 @@ "@babel/parser" "^7.20.7" "@babel/types" "^7.20.7" -"@babel/traverse@^7.20.5", "@babel/traverse@^7.20.7", "@babel/traverse@^7.21.0", "@babel/traverse@^7.21.2", "@babel/traverse@^7.21.4", "@babel/traverse@^7.7.2": +"@babel/traverse@^7.20.5", "@babel/traverse@^7.20.7", "@babel/traverse@^7.21.0", "@babel/traverse@^7.21.2", "@babel/traverse@^7.21.4", "@babel/traverse@^7.4.5", "@babel/traverse@^7.7.2": version "7.21.4" resolved "https://registry.npmjs.org/@babel/traverse/-/traverse-7.21.4.tgz" integrity sha512-eyKrRHKdyZxqDm+fV1iqL9UAHMoIg0nDaGqfIOd8rKH17m5snv7Gn4qgjBoFfLz9APvjFU/ICT00NVCv1Epp8Q== @@ -1279,7 +1279,24 @@ resolved "https://registry.npmjs.org/@emotion/hash/-/hash-0.8.0.tgz" integrity sha512-kBJtf7PH6aWwZ6fka3zQ0p6SBYzx4fl1LoZXE2RrnYST9Xljm7WfKJrU4g/Xr3Beg72MLrp1AWNUmuYJTL7Cow== -"@emotion/unitless@^0.7.5": +"@emotion/is-prop-valid@^1.1.0": + version "1.2.1" + resolved "https://registry.npmjs.org/@emotion/is-prop-valid/-/is-prop-valid-1.2.1.tgz" + integrity sha512-61Mf7Ufx4aDxx1xlDeOm8aFFigGHE4z+0sKCa+IHCeZKiyP9RLD0Mmx7m8b9/Cf37f7NAvQOOJAbQQGVr5uERw== + dependencies: + "@emotion/memoize" "^0.8.1" + +"@emotion/memoize@^0.8.1": + version "0.8.1" + resolved "https://registry.npmjs.org/@emotion/memoize/-/memoize-0.8.1.tgz" + integrity sha512-W2P2c/VRW1/1tLox0mVUalvnWXxavmv/Oum2aPsRcoDJuob75FC3Y8FbpfLwUegRcxINtGUMPq0tFCvYNTBXNA== + +"@emotion/stylis@^0.8.4": + version "0.8.5" + resolved "https://registry.npmjs.org/@emotion/stylis/-/stylis-0.8.5.tgz" + integrity sha512-h6KtPihKFn3T9fuIrwvXXUOwlx3rfUvfZIcP5a6rh8Y7zjE3O06hT5Ss4S/YI1AYhuZ1kjaE/5EaOOI2NqSylQ== + +"@emotion/unitless@^0.7.4", "@emotion/unitless@^0.7.5": version "0.7.5" resolved "https://registry.npmjs.org/@emotion/unitless/-/unitless-0.7.5.tgz" integrity sha512-OWORNpfjMsSSUBVrRBVGECkhWcULOAJz9ZW8uK9qgxD+87M7jHRcvh/A96XXNhXTLmKcoYSQtBEX7lHMO7YRwg== @@ -1685,9 +1702,9 @@ rc-util "^5.27.0" "@rc-component/mini-decimal@^1.0.1": - version "1.0.1" - resolved "https://registry.npmjs.org/@rc-component/mini-decimal/-/mini-decimal-1.0.1.tgz" - integrity sha512-9N8nRk0oKj1qJzANKl+n9eNSMUGsZtjwNuDCiZ/KA+dt1fE3zq5x2XxclRcAbOIXnZcJ53ozP2Pa60gyELXagA== + version "1.1.0" + resolved "https://registry.npmjs.org/@rc-component/mini-decimal/-/mini-decimal-1.1.0.tgz" + integrity sha512-jS4E7T9Li2GuYwI6PyiVXmxTiM6b07rlD9Ge8uGZSCz3WlzcG5ZK7g5bbuKNeZ9pgUuPK/5guV781ujdVpm4HQ== dependencies: "@babel/runtime" "^7.18.0" @@ -1721,9 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"2.0.0-beta.9" + resolved "https://registry.npmjs.org/rete/-/rete-2.0.0-beta.9.tgz" + integrity sha512-tmQk0UIjG2qmCamT58Kg8kQQq30/Nal1zr2uqX4mH2L9rZKCUBAL2dWZ160FoRbfTzWr0oFP/7PYhWrYwhkWDA== + dependencies: + "@babel/runtime" "^7.21.0" + retry@^0.13.1: version "0.13.1" resolved "https://registry.npmjs.org/retry/-/retry-0.13.1.tgz" @@ -8861,14 +8952,6 @@ saxes@^5.0.1: dependencies: xmlchars "^2.2.0" -scheduler@^0.19.1: - version "0.19.1" - resolved "https://registry.npmjs.org/scheduler/-/scheduler-0.19.1.tgz" - integrity sha512-n/zwRWRYSUj0/3g/otKDRPMh6qv2SYMWNq85IEa8iZyAv8od9zDYpGSnpBEjNgcMNq6Scbu5KfIPxNF72R/2EA== - dependencies: - loose-envify "^1.1.0" - object-assign "^4.1.1" - scheduler@^0.21.0: version "0.21.0" resolved "https://registry.npmjs.org/scheduler/-/scheduler-0.21.0.tgz" @@ -9025,6 +9108,11 @@ setprototypeof@1.2.0: resolved "https://registry.npmjs.org/setprototypeof/-/setprototypeof-1.2.0.tgz" integrity 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version "2.9.1" + resolved "https://registry.npmjs.org/usehooks-ts/-/usehooks-ts-2.9.1.tgz" + integrity sha512-2FAuSIGHlY+apM9FVlj8/oNhd+1y+Uwv5QNkMQz1oSfdHk4PXo1qoCw9I5M7j0vpH8CSWFJwXbVPeYDjLCx9PA== + util-deprecate@^1.0.1, util-deprecate@^1.0.2, util-deprecate@~1.0.1: version "1.0.2" resolved "https://registry.npmjs.org/util-deprecate/-/util-deprecate-1.0.2.tgz" diff --git a/asp/.gitignore b/asp/.gitignore new file mode 100644 index 0000000..c585e19 --- /dev/null +++ b/asp/.gitignore @@ -0,0 +1 @@ +out \ No newline at end of file diff --git a/asp/main.py b/asp/main.py index 893c97d..48240cd 100644 --- a/asp/main.py +++ b/asp/main.py @@ -1,17 +1,14 @@ import argparse import shutil from helper.fs import FS -from src.usecases.stability_check_usecase import StabilityCheckUseCase from src.usecases.urdf_sub_assembly_usecase import UrdfSubAssemblyUseCase -from src.usecases.sdf_generate_world_usecase import SdfGenerateWorldUseCase +# from src.usecases.sdf_generate_world_usecase import SdfGenerateWorldUseCase from src.model.sdf_geometry import GeometryModel from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase import os -# python3 main.py --generationFolder /Users/idontsudo/robo/Cube3/ --outPath /Users/idontsudo/robo/ --world true --format 'urdf' --stabilityCheck 'true' -# python3 main.py --generationFolder /Users/idontsudo/robo/Cube3/ --outPath /Users/idontsudo/robo/ --world true --format 'sdf' if __name__ == "__main__": parser = argparse.ArgumentParser() @@ -19,8 +16,6 @@ if __name__ == "__main__": parser.add_argument('--outPath', help='save SDF path') parser.add_argument('--world', help='adding sdf world') parser.add_argument('--format', help='urdf,sdf,mujoco') - parser.add_argument('--stabilityCheck', - help='do i need to check the stability?') args = parser.parse_args() if args.generationFolder == None or args.outPath == None: @@ -44,13 +39,10 @@ if __name__ == "__main__": generationFolder=args.generationFolder, outPath=args.outPath ) - if (args.format == 'urdf' and args.stabilityCheck != None): + if (args.format == 'urdf'): UrdfSubAssemblyUseCase().call( geometryModels=geometryModels, assembly=assemblyStructure, world=args.world, generationFolder=args.generationFolder, outPath=args.outPath ) - StabilityCheckUseCase().call( - args.outPath - ) diff --git a/asp/src/usecases/formatter_usecase.py b/asp/src/usecases/formatter_usecase.py index fa0de3f..9efa2e8 100644 --- a/asp/src/usecases/formatter_usecase.py +++ b/asp/src/usecases/formatter_usecase.py @@ -1,11 +1,10 @@ from src.model.enum import Enum -import xmlformatter from helper.fs import FS - +import xmlformatter class FormatterUseCase: def call(outPath: str, format: str): - formatter = xmlformatter.Formatter( + formatter = xmlformatter( indent="1", indent_char="\t", encoding_output="ISO-8859-1", preserve=["literal"]) files = FS.readFilesTypeFolder( diff --git a/asp/src/usecases/stability_check_usecase.py b/asp/src/usecases/stability_check_usecase.py deleted file mode 100644 index c55b092..0000000 --- a/asp/src/usecases/stability_check_usecase.py +++ /dev/null @@ -1,36 +0,0 @@ -import numpy as np -import pybullet as p -import time -import pybullet_data -from helper.fs import FS -from src.usecases.urdf_sub_assembly_usecase import URDF_GENERATOR_FILE -import json - -from src.model.enum import Enum - - -class StabilityCheckUseCase: - def call(self, outPath: str): - dirPath = outPath + Enum.folderPath - DURATION = 10000 - asm = json.loads(FS.readFile(dirPath + URDF_GENERATOR_FILE)) - inc = 0 - for el in asm['asm2']: - FS.writeFile(data=el, filePath=dirPath, - fileName=str(inc) + '.urdf') - inc += 1 - assemblyURDFS = list( - map(lambda el: dirPath+el, FS.readFilesTypeFolder(dirPath, '.urdf'))) - physicsClient = p.connect(p.GUI) - - p.setGravity(0, 0, -10) - - for el in assemblyURDFS: - p.loadURDF(el) - - - for i in range(DURATION): - p.stepSimulation() - time.sleep(1./240.) - - p.disconnect() diff --git a/asp/src/usecases/urdf_sub_assembly_usecase.py b/asp/src/usecases/urdf_sub_assembly_usecase.py index 0c82827..907662e 100644 --- a/asp/src/usecases/urdf_sub_assembly_usecase.py +++ b/asp/src/usecases/urdf_sub_assembly_usecase.py @@ -5,6 +5,7 @@ from src.model.asm import Assembly from src.model.sdf_geometry import GeometryModel from helper.fs import filterModels, listGetFirstValue import json +import re def toUrdf(el: GeometryModel): @@ -21,6 +22,7 @@ class UrdfSubAssemblyUseCase(Assembly): generateSubAssemblyModels = self.generateSubAssembly(assembly) inc = 0 for key, value in generateSubAssemblyModels.items(): + keyAsm = int(re.findall(r'\d', key)[0]) inc += 1 if value['assembly'].__len__() != 0: model: Optional[GeometryModel] = listGetFirstValue( @@ -32,11 +34,9 @@ class UrdfSubAssemblyUseCase(Assembly): geometryModels, value['assembly']))) urdfs.append(listGetFirstValue( geometryModels, None, lambda x: x.name == value['part']) .toUrdf()) - asm[key] = urdfs + asm[keyAsm] = urdfs self.copy(generationFolder=generationFolder, format='/sdf', outPath=outPath) - FS.writeFile(data=json.dumps(asm), fileName=URDF_GENERATOR_FILE, filePath=dirPath) - # for el in asm.keys(): diff --git a/cad_generation/env.json b/cad_generation/env.json new file mode 100644 index 0000000..3945e7a --- /dev/null +++ b/cad_generation/env.json @@ -0,0 +1,6 @@ +{ + "doc": "/home/idontsudo/t/framework/asp-review-app/server/public/cubes/cubes.FCStd", + "out": "/home/idontsudo/t/framework/cad_generation", + "resultURL": "http://localhost:3002/assembly/save/out", + "projectId": "cubes" +} \ No newline at end of file diff --git a/cad_generation/helper/fs.py b/cad_generation/helper/fs.py new file mode 100644 index 0000000..3026bb4 --- /dev/null +++ b/cad_generation/helper/fs.py @@ -0,0 +1,15 @@ +import os +import json + + +class FS: + def readJSON(path: str): + return json.loads((open(path)).read()) + + def writeFile(data, filePath, fileName): + file_to_open = filePath + fileName + + f = open(file_to_open, 'w', encoding='utf-8', + errors='ignore') + f.write(data) + f.close() diff --git a/cad_generation/helper/is_solid.py b/cad_generation/helper/is_solid.py new file mode 100644 index 0000000..431c814 --- /dev/null +++ b/cad_generation/helper/is_solid.py @@ -0,0 +1,18 @@ +import FreeCAD + + +def is_object_solid(obj): + """If obj is solid return True""" + if not isinstance(obj, FreeCAD.DocumentObject): + return False + + if not hasattr(obj, 'Shape'): + return False + + if not hasattr(obj.Shape, 'Solids'): + return False + + if len(obj.Shape.Solids) == 0: + return False + + return True diff --git a/cad_generation/main.py b/cad_generation/main.py new file mode 100644 index 0000000..83ddba7 --- /dev/null +++ b/cad_generation/main.py @@ -0,0 +1,19 @@ +import requests +import FreeCAD as App +from helper.fs import FS +from scenarios.robossembler_freecad_export_scenario import RobossemblerFreeCadExportScenario +import shutil +import os +import FreeCADGui as Gui + + +def main(): + env = FS.readJSON('./env.json') + App.openDocument(env.get('doc')) + RobossemblerFreeCadExportScenario().call(env.get('out')) + # requests.post(url=env.get('resultURL'), files={'zip': open(env.get('out') + '/' + 'generation.zip', "rb"), 'id':env.get('projectId')}) + # os.remove('./generation.zip') + App.closeDocument(App.ActiveDocument.Name) + freecadQTWindow = Gui.getMainWindow() + freecadQTWindow.close() +main() diff --git a/cad_generation/model/files_generator.py b/cad_generation/model/files_generator.py new file mode 100644 index 0000000..68b4a0b --- /dev/null +++ b/cad_generation/model/files_generator.py @@ -0,0 +1,13 @@ +from enum import Enum + + +class FilesGenerator(Enum): + DETAIL = 'detail.json' + ASSEMBLY = 'assembly.json' + + +class FolderGenerator(Enum): + MESHES = 'meshes' + ASSETS = 'assets' + SDF = 'sdf' + ASSEMBlY = 'assembly' diff --git a/cad_generation/model/geometry_part.py b/cad_generation/model/geometry_part.py new file mode 100644 index 0000000..f63f055 --- /dev/null +++ b/cad_generation/model/geometry_part.py @@ -0,0 +1,86 @@ +from typing import Any, TypeVar, Type, cast + + +T = TypeVar("T") + + +def from_float(x: Any) -> float: + assert isinstance(x, (float, int)) and not isinstance(x, bool) + return float(x) + + +def to_float(x: Any) -> float: + assert isinstance(x, float) + return x + + +def to_class(c: Type[T], x: Any) -> dict: + assert isinstance(x, c) + return cast(Any, x).to_dict() + + +class Axis: + x: float + y: float + z: float + + def __init__(self, x: float, y: float, z: float) -> None: + self.x = x + self.y = y + self.z = z + + @staticmethod + def from_dict(obj: Any) -> 'Axis': + assert isinstance(obj, dict) + x = from_float(obj.get("x")) + y = from_float(obj.get("y")) + z = from_float(obj.get("z")) + return Axis(x, y, z) + + def to_dict(self) -> dict: + result: dict = {} + result["x"] = to_float(self.x) + result["y"] = to_float(self.y) + result["z"] = to_float(self.z) + return result + + +class GeometryPart: + euler: Axis + position: Axis + rotation: Axis + center: Axis + + def __init__(self, euler: Axis, position: Axis, rotation: Axis, center: Axis) -> None: + self.euler = euler + self.position = position + self.rotation = rotation + self.center = center + + @staticmethod + def from_dict(obj: Any) -> 'GeometryPart': + assert isinstance(obj, dict) + euler = Axis.from_dict(obj.get("euler")) + position = Axis.from_dict(obj.get("position")) + rotation = Axis.from_dict(obj.get("rotation")) + center = Axis.from_dict(obj.get("center")) + return GeometryPart(euler, position, rotation, center) + + def to_dict(self) -> dict: + result: dict = {} + result["euler"] = to_class(Axis, self.euler) + result["position"] = to_class(Axis, self.position) + result["rotation"] = to_class(Axis, self.rotation) + result["center"] = to_class(Axis, self.center) + return result + + def toJson(self) -> str: + return str(self.to_dict()).replace('\'', '"') + + +def geometry_part_from_dict(s: Any) -> GeometryPart: + return GeometryPart.from_dict(s) + + +def geometry_part_to_dict(x: GeometryPart) -> Any: + return to_class(GeometryPart, x) diff --git a/cad_generation/model/join_mesh_model.py b/cad_generation/model/join_mesh_model.py new file mode 100644 index 0000000..52ca96b --- /dev/null +++ b/cad_generation/model/join_mesh_model.py @@ -0,0 +1,33 @@ +import FreeCAD +import Mesh +import FreeCAD as App +from model.mesh_part_model import MeshPartModel + + +class JoinMeshModel: + id = None + mesh = None + + def __init__(self, meshesPartModels: list['MeshPartModel']) -> None: + meshes = [] + import Mesh + from random import randrange + for el in meshesPartModels: + meshes.append(el.mesh.Mesh) + + self.id = 'MergedMesh' + str(randrange(1000000)) + document = App.ActiveDocument + merged_mesh = Mesh.Mesh() + for el in meshes: + merged_mesh.addMesh(el) + + new_obj = App.activeDocument().addObject("Mesh::Feature", self.id) + new_obj.Mesh = merged_mesh + new_obj.ViewObject.DisplayMode = "Flat Lines" # Set display mode to flat lines + self.mesh = new_obj + + def remove(self): + try: + App.ActiveDocument.removeObject(self.id) + except Exception as e: + print(e) diff --git a/cad_generation/model/mesh_part_model.py b/cad_generation/model/mesh_part_model.py new file mode 100644 index 0000000..dc77871 --- /dev/null +++ b/cad_generation/model/mesh_part_model.py @@ -0,0 +1,32 @@ +import FreeCAD as App +import uuid +import Mesh +import Part +# import PartGui +import MeshPart + + +class MeshPartModel: + id = None + mesh = None + + def __init__(self, part) -> None: + try: + from random import randrange + self.id = 'mesh' + str(randrange(1000000)) + document = App.ActiveDocument + mesh = document.addObject("Mesh::Feature", self.id) + shape = Part.getShape(part, "") + mesh.Mesh = MeshPart.meshFromShape( + Shape=shape, LinearDeflection=20, AngularDeflection=0.1, Relative=False) + mesh.Label = self.id + self.mesh = mesh + except Exception as e: + print(e) + pass + + def remove(self): + try: + App.ActiveDocument.removeObject(self.mesh.Label) + except Exception as e: + print(e) diff --git a/cad_generation/model/sdf_geometry_model.py b/cad_generation/model/sdf_geometry_model.py new file mode 100644 index 0000000..dca815d --- /dev/null +++ b/cad_generation/model/sdf_geometry_model.py @@ -0,0 +1,107 @@ +import json + + +def from_str(x): + assert isinstance(x, str) + return x + + +def from_none(x): + assert x is None + return x + + +def from_union(fs, x): + for f in fs: + try: + return f(x) + except: + pass + assert False + + +def to_class(c, x): + assert isinstance(x, c) + return x.to_dict() + + +class SdfGeometryModel: + def __init__(self, name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz, stl, friction): + self.name = name + self.ixx = ixx + self.ixy = ixy + self.ixz = ixz + self.iyy = iyy + self.izz = izz + self.massSDF = massSDF + self.posX = posX + self.posY = posY + self.posZ = posZ + self.eulerX = eulerX + self.eulerY = eulerY + self.eulerZ = eulerZ + self.iyz = iyz + self.stl = stl + self.friction = friction + + @staticmethod + def from_dict(obj): + assert isinstance(obj, dict) + name = from_union([from_str, from_none], obj.get("name")) + ixx = from_union([from_str, from_none], obj.get("ixx")) + ixy = from_union([from_str, from_none], obj.get("ixy")) + ixz = from_union([from_str, from_none], obj.get("ixz")) + iyy = from_union([from_str, from_none], obj.get("iyy")) + izz = from_union([from_str, from_none], obj.get("izz")) + massSDF = from_union([from_str, from_none], obj.get("massSDF")) + posX = from_union([from_str, from_none], obj.get("posX")) + posY = from_union([from_str, from_none], obj.get("posY")) + posZ = from_union([from_str, from_none], obj.get("posZ")) + eulerX = from_union([from_str, from_none], obj.get("eulerX")) + eulerY = from_union([from_str, from_none], obj.get("eulerY")) + eulerZ = from_union([from_str, from_none], obj.get("eulerZ")) + iyz = from_union([from_str, from_none], obj.get("iyz")) + stl = from_union([from_str, from_none], obj.get("stl") ) + friction = from_union([from_str, from_none], obj.get("friction")) + return SdfGeometryModel(name, ixx, ixy, ixz, iyy, izz, massSDF, posX, posY, posZ, eulerX, eulerY, eulerZ, iyz,stl,friction) + + def to_dict(self): + result = {} + if self.name is not None: + result["name"] = from_union([from_str, from_none], self.name) + if self.ixx is not None: + result["ixx"] = from_union([from_str, from_none], self.ixx) + if self.ixy is not None: + result["ixy"] = from_union([from_str, from_none], self.ixy) + if self.ixz is not None: + result["ixz"] = from_union([from_str, from_none], self.ixz) + if self.iyy is not None: + result["iyy"] = from_union([from_str, from_none], self.iyy) + if self.izz is not None: + result["izz"] = from_union([from_str, from_none], self.izz) + if self.massSDF is not None: + result["massSDF"] = from_union([from_str, from_none], self.massSDF) + if self.posX is not None: + result["posX"] = from_union([from_str, from_none], self.posX) + if self.posY is not None: + result["posY"] = from_union([from_str, from_none], self.posY) + if self.posZ is not None: + result["posZ"] = from_union([from_str, from_none], self.posZ) + if self.eulerX is not None: + result["eulerX"] = from_union([from_str, from_none], self.eulerX) + if self.eulerY is not None: + result["eulerY"] = from_union([from_str, from_none], self.eulerY) + if self.eulerZ is not None: + result["eulerZ"] = from_union([from_str, from_none], self.eulerZ) + if self.iyz is not None: + result["iyz"] = from_union([from_str, from_none], self.iyz) + if self.stl is not None: + result["stl"] = from_union([from_str, from_none], self.stl) + if self.friction is not None: + result["friction"] = from_union([from_str, from_none], self.eulerZ) + return result + + def toJSON(self) -> str: + return str(self.to_dict()).replace('\'', '"') + + \ No newline at end of file diff --git a/cad_generation/model/simple_copy_part_model.py b/cad_generation/model/simple_copy_part_model.py new file mode 100644 index 0000000..05c54f0 --- /dev/null +++ b/cad_generation/model/simple_copy_part_model.py @@ -0,0 +1,30 @@ +import FreeCAD as App +import Part + + +class SimpleCopyPartModel: + id = None + copyLink = None + label = None + part = None + + def getPart(self): + return self.part + + def __init__(self, part) -> None: + try: + from random import randrange + self.id = str(randrange(1000000)) + childObj = part + __shape = Part.getShape( + childObj, '', needSubElement=False, refine=False) + obj = App.ActiveDocument.addObject('Part::Feature', self.id) + obj.Shape = __shape + self.part = obj + self.label = obj.Label + App.ActiveDocument.recompute() + except Exception as e: + print(e) + + def remove(self): + App.ActiveDocument.removeObject(self.label) diff --git a/cad_generation/scenarios/robossembler_freecad_export_scenario.py b/cad_generation/scenarios/robossembler_freecad_export_scenario.py new file mode 100644 index 0000000..c834efb --- /dev/null +++ b/cad_generation/scenarios/robossembler_freecad_export_scenario.py @@ -0,0 +1,54 @@ + +from usecases.export_assembly_them_all_usecase import ExportAssemblyThemAllUseCase +import FreeCAD + +from usecases.export_usecase import EXPORT_TYPES, ExportUseCase +from usecases.get_sdf_geometry_usecase import SdfGeometryUseCase +from usecases.assembly_parse_usecase import AssemblyParseUseCase +from usecases.geometry_usecase import GeometryUseCase +from model.geometry_part import GeometryPart +from model.files_generator import FolderGenerator +from helper.fs import FS +import os +# import ImportGui +import shutil + + +class RobossemblerFreeCadExportScenario: + + def call(self, path): + + + directory = path + '/' + 'generation' + if os.path.exists(directory): + shutil.rmtree(directory) + if not os.path.exists(directory): + os.makedirs(directory) + + __objs__ = FreeCAD.ActiveDocument.RootObjects + directoryExport = directory + '/' + os.makedirs(directoryExport + FolderGenerator.ASSETS.value) + + os.makedirs(directoryExport + FolderGenerator.SDF.value) + os.makedirs(directoryExport + FolderGenerator.SDF.value + '/' + FolderGenerator.MESHES.value) + os.makedirs(directoryExport + FolderGenerator.ASSEMBlY.value) + f = open(directory + "/step-structure.json", "w") + f.write(AssemblyParseUseCase().toJson()) + f.close() + self.geometry(directory) + ExportAssemblyThemAllUseCase().call(directoryExport) + + shutil.make_archive(directory, 'zip', directory) + + shutil.rmtree(directory) + return True + + def geometry(self, outPutsPath: str): + exportUseCase = ExportUseCase.call(outPutsPath,EXPORT_TYPES.OBJ) + for el in SdfGeometryUseCase().call(exportUseCase): + FS.writeFile(el.toJSON(), outPutsPath + '/' + FolderGenerator.ASSETS.value + '/', el.name + '.json',) + + + + + \ No newline at end of file diff --git a/cad_generation/usecases/asm4parser_usecase.py b/cad_generation/usecases/asm4parser_usecase.py new file mode 100644 index 0000000..f732d1b --- /dev/null +++ b/cad_generation/usecases/asm4parser_usecase.py @@ -0,0 +1,53 @@ +import FreeCAD as App + +class Asm4StructureParseUseCase: + _parts = [] + _label = [] + + def getSubPartsLabel(self, group): + groupLabel = [] + for el in group: + if str(el) == '': + groupLabel.append(el.Label) + return groupLabel + + def parseLabel(self, nextGroup, label, level=2, nextGroupParse=0): + if nextGroup.__len__() == nextGroupParse: + return + else: + groupParts = [] + + for el in nextGroup: + if str(el) == '': + groupParts.append(el) + + for el in groupParts: + if str(el) == '': + label.append({ + "level": level, + "attachedTo": el.AttachedTo.split('#'), + "label": el.Label, + "axis": self.getSubPartsLabel(el.Group) + }) + + def initParse(self): + + model = App.ActiveDocument.RootObjects[1] + self._label.append({ + "level": 1, + "attachedTo": "Parent Assembly", + "label": model.Label, + "axis": self.getSubPartsLabel(model.Group) + }) + for parent in model.Group: + if str(parent) == '': + self._label.append({ + "level": 1, + "attachedTo": parent.AttachedTo.split('#'), + "label": parent.Label, + "axis": self.getSubPartsLabel(parent.Group) + }) + print(self._label) + + + \ No newline at end of file diff --git a/cad_generation/usecases/assembly_parse_usecase.py b/cad_generation/usecases/assembly_parse_usecase.py new file mode 100644 index 0000000..e3b4e0d --- /dev/null +++ b/cad_generation/usecases/assembly_parse_usecase.py @@ -0,0 +1,58 @@ +import FreeCAD as App +def is_object_solid(obj): + """If obj is solid return True""" + if not isinstance(obj, App.DocumentObject): + return False + if hasattr(obj, 'Group'): + return False + + if not hasattr(obj, 'Shape'): + return False + # if not hasattr(obj.Shape, 'Mass'): + # return False + if not hasattr(obj.Shape, 'Solids'): + return False + + if len(obj.Shape.Solids) == 0: + return False + + return True + + +class AssemblyParseUseCase: + _parts = [] + + _asm = [] + + def getAsm(self): + return self._asm + + def __init__(self) -> None: + if (self._asm.__len__() == 0): + self.initParse() + pass + + def initParse(self): + for el in App.ActiveDocument.Objects: + if (is_object_solid(el)): + self._asm.append(el.Label) + + def toJson(self): + return str(self._asm).replace('\'', "\"") + + def getSubPartsLink(self, group): + groupLink = {} + for el in group: + if (is_object_solid(el)): + if str(el.Shape).find('Solid') != -1: + if groupLink.get(el.Label) == None: + groupLink[el.Label] = [] + for i in el.Group: + if str(i).find('Pad') != -1: + groupLink[el.Label].append(i) + if groupLink.__len__() == 0: + return None + return groupLink + + def getLinkedProperty(self): + return self._asm diff --git a/cad_generation/usecases/export_assembly_them_all_usecase.py b/cad_generation/usecases/export_assembly_them_all_usecase.py new file mode 100644 index 0000000..b8f0a57 --- /dev/null +++ b/cad_generation/usecases/export_assembly_them_all_usecase.py @@ -0,0 +1,92 @@ + + +from typing import List +import FreeCAD as App +import Part +from model.join_mesh_model import JoinMeshModel +from model.mesh_part_model import MeshPartModel +from helper.fs import FS +from helper.is_solid import is_object_solid +from model.simple_copy_part_model import SimpleCopyPartModel +from model.files_generator import FolderGenerator +from usecases.assembly_parse_usecase import AssemblyParseUseCase +import os +import json + + +class ExportAssemblyThemAllUseCase: + + def call(self, path): + assembly = AssemblyParseUseCase().getAsm() + asmStructure = {} + inc = 0 + for el in assembly: + if (inc != 0): + asmStructure[inc] = { + "child": el, + "parents": assembly[0:inc] + } + inc += 1 + objectsFreeCad = App.ActiveDocument.Objects + asmSolids = {} + for k, v in asmStructure.items(): + assemblyParentList = v['parents'] + assemblyChild = v['child'] + for el in assemblyParentList: + for solid in objectsFreeCad: + if (el == solid.Label): + if (asmSolids.get(k) is None): + + asmSolids[k] = {'parents': [], 'child': list( + filter(lambda x: x.Label == assemblyChild, objectsFreeCad))[0]} + + asmSolids[k]['parents'].append(solid) + + inc = 0 + for k, v in asmSolids.items(): + geometry = {"0": [], "1": []} + if (k != 0): + App.activeDocument().addObject("Part::Compound", "Compound") + + copyLinks = list( + map(lambda el: SimpleCopyPartModel(el), v['parents'])) + + if copyLinks != None: + App.activeDocument().Compound.Links = list( + map(lambda el: el.getPart(), copyLinks)) + + object = App.activeDocument().getObject('Compound') + boundBox = object.Shape.BoundBox + geometry['0'].append(boundBox.XMax) + geometry['0'].append(boundBox.YMax) + geometry['0'].append(boundBox.ZMax) + + os.makedirs( + path + FolderGenerator.ASSEMBlY.value + '/' + '0000' + str(k)) + boundBoxChild = v['child'].Shape.BoundBox + geometry['1'].append(boundBoxChild.XMax) + geometry['1'].append(boundBoxChild.YMax) + geometry['1'].append(boundBoxChild.ZMax) + meshParents = [] + + for el in v['parents']: + meshParents.append(MeshPartModel(el)) + joinMesh = JoinMeshModel(meshParents) + for el in meshParents: + el.remove() + import importOBJ + importOBJ.export(joinMesh.mesh, path + FolderGenerator.ASSEMBlY.value + + '/' + '0000' + str(k) + '/' + str(1) + '.obj') + joinMesh.remove() + importOBJ.export(v['child'], path + FolderGenerator.ASSEMBlY.value + + '/' + '0000' + str(k) + '/' + str(0) + '.obj') + FS.writeFile(json.dumps(geometry), path + FolderGenerator.ASSEMBlY.value + + '/' + '0000' + str(k) + '/', 'translation.json') + + App.ActiveDocument.removeObject("Compound") + for el in copyLinks: + el.remove() + App.activeDocument().recompute() + inc += 1 + + diff --git a/cad_generation/usecases/export_usecase.py b/cad_generation/usecases/export_usecase.py new file mode 100644 index 0000000..fed67fa --- /dev/null +++ b/cad_generation/usecases/export_usecase.py @@ -0,0 +1,36 @@ +# import importDAE +import Mesh +import FreeCAD as App +from model.files_generator import FolderGenerator +from helper.is_solid import is_object_solid +from enum import Enum + +class EXPORT_TYPES(Enum): + STL = 'STL' + DAO = 'DAO' + OBJ = 'OBJ' + + +class ExportUseCase: + def call(path: str, type: EXPORT_TYPES): + meshes = {} + for el in App.ActiveDocument.Objects: + if (is_object_solid(el)): + match type.value: + case EXPORT_TYPES.STL.value: + Mesh.export([el], path + '/' + FolderGenerator.SDF.value + + '/' + FolderGenerator.MESHES.value + '/' + el.Label + '.stl') + meshes[el.Label] = '/' + FolderGenerator.MESHES.value + \ + '/' + el.Label + '.stl' + + # case EXPORT_TYPES.DAO.value: + # importDAE.export([el], path + '/' + FolderGenerator.SDF.value + + # '/' + FolderGenerator.MESHES.value + '/' + el.Label + '.dae') + case EXPORT_TYPES.OBJ.value: + import importOBJ + importOBJ.export([el], path + '/' + FolderGenerator.SDF.value + + '/' + FolderGenerator.MESHES.value + '/' + el.Label + '.obj') + meshes[el.Label] = '/' + FolderGenerator.MESHES.value + \ + '/' + el.Label + '.obj' + print(300) + return meshes diff --git a/cad_generation/usecases/geometry_usecase.py b/cad_generation/usecases/geometry_usecase.py new file mode 100644 index 0000000..13ebfd2 --- /dev/null +++ b/cad_generation/usecases/geometry_usecase.py @@ -0,0 +1,58 @@ + +import FreeCAD as App +from helper.is_solid import is_object_solid + + +class GeometryUseCase: + def call() -> dict: + labels = [] + Error = False + for el in App.ActiveDocument.Objects: + try: + + if is_object_solid(el): + labels.append(el.Label) + + geometry = { + "euler": { + "x": None, + "y": None, + "z": None + }, + "position": { + "x": None, + "y": None, + "z": None + }, + "rotation": { + "x": None, + "y": None, + "z": None + }, + "center": { + "x": None, + "y": None, + "z": None + }, + + } + + boundBox = el.Shape.BoundBox + geometry["center"]["x"] = boundBox.Center.x + geometry["center"]["y"] = boundBox.Center.y + geometry["center"]["z"] = boundBox.Center.z + geometry["position"]['x'] = boundBox.XMax + geometry["position"]['y'] = boundBox.YMax + geometry["position"]['z'] = boundBox.ZMax + rotation = el.Placement.Rotation + geometry["rotation"]['x'] = rotation.Axis.z + geometry["rotation"]['y'] = rotation.Axis.y + geometry["rotation"]['z'] = rotation.Axis.z + euler = el.Placement.Rotation.toEuler() + geometry["euler"]['x'] = euler[0] + geometry["euler"]['y'] = euler[1] + geometry["euler"]['z'] = euler[2] + except Exception as e: + print(e) + # App.Console.PrintMessage("Clicked on position: ("+str(pos[0])+", "+str(pos[1])+")\n") + return {"geometry": geometry, "labels": labels, "label": el.Label} diff --git a/cad_generation/usecases/get_sdf_geometry_usecase.py b/cad_generation/usecases/get_sdf_geometry_usecase.py new file mode 100644 index 0000000..45869c5 --- /dev/null +++ b/cad_generation/usecases/get_sdf_geometry_usecase.py @@ -0,0 +1,68 @@ +import FreeCAD as App +from model.sdf_geometry_model import SdfGeometryModel + +from helper.is_solid import is_object_solid + + +class SdfGeometryUseCase: + ShapePropertyCheck = ['Mass','MatrixOfInertia','Placement', ] + PartPropertyCheck = ['Shape'] + def call(self, stlPaths:dict) -> list[SdfGeometryModel]: + materialSolid = {} + for el in App.ActiveDocument.Objects: + if str(el) == '': + friction = el.Material.get('SlidingFriction') + for i in el.References: + materialSolid[i[0].Label] = friction + geometry = [] + try: + for el in App.ActiveDocument.Objects: + if is_object_solid(el): + mass = el.Shape.Mass + inertia = el.Shape.MatrixOfInertia + pos = el.Shape.Placement + inertia = el.Shape.MatrixOfInertia + name = el.Label + ixx = str(inertia.A11 / 1000000) + ixy = str(inertia.A12 / 1000000) + ixz = str(inertia.A13 / 1000000) + iyy = str(inertia.A22 / 1000000) + iyz = str(inertia.A23 / 1000000) + izz = str(inertia.A33 / 1000000) + massSDF = str(mass / 1000000) + posX = str(pos.Base[0] / 1000000) + posY = str(pos.Base[1] / 1000000) + posZ = str(pos.Base[2] / 1000000) + eulerX = str(pos.Rotation.toEuler()[0]) + eulerY = str(pos.Rotation.toEuler()[1]) + eulerZ = str(pos.Rotation.toEuler()[2]) + + geometry.append( + SdfGeometryModel( + stl=stlPaths.get(el.Label), + name=name, + ixx=ixx, + ixz=ixz, + ixy=ixy, + iyy=iyy, + iyz=iyz, + izz=izz, + massSDF=massSDF, + posX=posX, + posY=posY, + posZ=posZ, + eulerX=eulerX, + eulerY=eulerY, + eulerZ=eulerZ, + friction=materialSolid.get(el.Label) or '', + ) + ) + except Exception as e: + print(200) + + return geometry + + + + + diff --git a/cad_stability_check/.gitignore b/cad_stability_check/.gitignore new file mode 100644 index 0000000..2b2f40c --- /dev/null +++ b/cad_stability_check/.gitignore @@ -0,0 +1,95 @@ +# Byte-compiled / optimized / DLL files +__pycache__/ +*.py[cod] +*$py.class + +# C extensions +*.so + +# Distribution / packaging +.Python +env/ +build/ +develop-eggs/ +dist/ +downloads/ +eggs/ +.eggs/ +lib/ +lib64/ +parts/ +sdist/ +var/ +wheels/ +*.egg-info/ +.installed.cfg +*.egg + +# PyInstaller +# Usually these files are written by a python script from a template +# before PyInstaller builds the exe, so as to inject date/other infos into it. +*.manifest +*.spec + +# Installer logs +pip-log.txt +pip-delete-this-directory.txt + +# Unit test / coverage reports +htmlcov/ +.tox/ +.coverage +.coverage.* +.cache +nosetests.xml +coverage.xml +*,cover +.hypothesis/ + +# Translations +*.mo +*.pot + +# Django stuff: +*.log +local_settings.py + +# Flask stuff: +instance/ +.webassets-cache + +# Scrapy stuff: +.scrapy + +# Sphinx documentation +docs/_build/ + +# PyBuilder +target/ + +# Jupyter Notebook +.ipynb_checkpoints + +# pyenv +.python-version + +# celery beat schedule file +celerybeat-schedule + +# SageMath parsed files +*.sage.py + +# dotenv +.env + +# virtualenv +.venv +venv/ +ENV/ + +# Spyder project settings +.spyderproject + +# Rope project settings +.ropeproject +env.json \ No newline at end of file diff --git a/cad_stability_check/main.py b/cad_stability_check/main.py new file mode 100644 index 0000000..b4684e8 --- /dev/null +++ b/cad_stability_check/main.py @@ -0,0 +1,79 @@ +import FreeCAD as App +import json +import re +from pyquaternion import Quaternion + +def importObjAtPath(path: str): + import importOBJ + importOBJ.insert(u"" + path, App.ActiveDocument.Label) + + pass + + +def getFullPathObj(assemblyFolder: str, name: str): + return assemblyFolder + 'sdf/meshes/' + name + '.obj' + + +def computedStabiliti(refElement, childElement): + b = childElement.Shape.BoundBox + App.activeDocument().addObject("Part::MultiCommon", "Common") + App.activeDocument().Common.Shapes = [refElement, childElement, ] + App.ActiveDocument.getObject('Common').ViewObject.ShapeColor = getattr(App.getDocument('cubes').getObject( + refElement.Name).getLinkedObject(True).ViewObject, 'ShapeColor', App.getDocument('cubes').getObject('Common').ViewObject.ShapeColor) + App.ActiveDocument.getObject('Common').ViewObject.DisplayMode = getattr(App.getDocument('cubes').getObject( + childElement.Name).getLinkedObject(True).ViewObject, 'DisplayMode', App.getDocument('cubes').getObject('Common').ViewObject.DisplayMode) + App.ActiveDocument.recompute() + obj = App.ActiveDocument.getObjectsByLabel('Common')[0] + + shp = obj.Shape + bbox = shp.BoundBox + if bbox.XLength == b.XLength and bbox.YLength == b.YLength and b.ZLength == bbox.ZLength: + return True + return False + + +def main(): + App.newDocument() + env = json.loads((open('./env.json')).read()) + coordinatsFilePath = env.get('pathToTheSimulationCoordinatesFile') + assemblyFolder = env.get('generationFolder') + buildNumber = int(re.findall(r'\d', coordinatsFilePath)[0]) + + assemblyStructure = json.loads( + (open(assemblyFolder + 'step-structure.json')).read()) + assemblyNumber = int(buildNumber) + activeDetail = assemblyStructure[assemblyNumber] + + subassemblyNotParticipatingInMarkup = assemblyStructure[0:assemblyNumber - 1] + detailOfTheMarkingZoneOfWhich = assemblyStructure[assemblyNumber - 1] + importObjAtPath(getFullPathObj(assemblyFolder, activeDetail)) + importObjAtPath(getFullPathObj( + assemblyFolder, detailOfTheMarkingZoneOfWhich)) + meshMark = App.ActiveDocument.Objects[0] + meshDetailOfTheMarkZone = App.ActiveDocument.Objects[1] + meshMark.ViewObject.ShapeColor = (0.31, 0.77, 0.87) + meshDetailOfTheMarkZone.ViewObject.ShapeColor = (0.68, 0.66, 0.95) + for el in list(map(lambda el: getFullPathObj(assemblyFolder, el), subassemblyNotParticipatingInMarkup)): + importObjAtPath(el) + for el in App.ActiveDocument.Objects[2:App.ActiveDocument.Objects.__len__()]: + el.ViewObject.ShapeColor = (0.32, 0.05, 0.38) + + coordinats = json.loads((open(coordinatsFilePath)).read()) + inc = 1 + for el in App.ActiveDocument.Objects: + pos = coordinats[inc]['position'] + qua = coordinats[inc]['quaternion'] + new_quaternion = Quaternion(qua[0], qua[1], qua[2], qua[3]) + rotation_matrix = new_quaternion.rotation_matrix + current_position = el.Placement.Base + new_position = App.Vector(current_position.x, current_position.y, current_position.z) + new_placement = App.Placement(new_position, rotation_matrix) + el.Placement = new_placement + App.ActiveDocument.recompute() + el.Placement.move(App.Vector(pos[0], pos[1], pos[2])) + + print(computedStabiliti(meshMark, meshDetailOfTheMarkZone)) + pass + + +main() diff --git a/cad_stability_input b/cad_stability_input new file mode 160000 index 0000000..821cd28 --- /dev/null +++ b/cad_stability_input @@ -0,0 +1 @@ +Subproject commit 821cd287ef30fd6a0ba7cb420b6b7e6ff1b91577 diff --git a/cg/freecad/Frames/scenarios/robossembler_freecad_export_scenario.py b/cg/freecad/Frames/scenarios/robossembler_freecad_export_scenario.py index 71def3b..eb40dfe 100644 --- a/cg/freecad/Frames/scenarios/robossembler_freecad_export_scenario.py +++ b/cg/freecad/Frames/scenarios/robossembler_freecad_export_scenario.py @@ -18,7 +18,7 @@ import shutil class RobossemblerFreeCadExportScenario: def call(self): - + path = self.qtGuiFeature() if path == None: return diff --git a/geometric_feasibility_predicate/README.MD b/geometric_feasibility_predicate/README.MD new file mode 100644 index 0000000..7185164 --- /dev/null +++ b/geometric_feasibility_predicate/README.MD @@ -0,0 +1 @@ +freecadcmd main.py \ No newline at end of file diff --git a/geometric_feasibility_predicate/env.json b/geometric_feasibility_predicate/env.json new file mode 100644 index 0000000..2375211 --- /dev/null +++ b/geometric_feasibility_predicate/env.json @@ -0,0 +1,4 @@ +{ + "cadFilePath":"", + "outPath":"" +} \ No newline at end of file diff --git a/geometric_feasibility_predicate/main.py b/geometric_feasibility_predicate/main.py new file mode 100644 index 0000000..8623d7c --- /dev/null +++ b/geometric_feasibility_predicate/main.py @@ -0,0 +1,358 @@ +import FreeCAD as App +import uuid +import os +import json +from typing import List, Dict, Any, TypeVar, Callable, Type, cast + + +class FreeCadRepository: + _solids = [] + + def getAllSolids(self): + if (self._solids.__len__() == 0): + for part in App.ActiveDocument.Objects: + if (self.is_object_solid(part)): + self._solids.append(part) + + return self._solids + + def is_object_solid(self, obj): + if not isinstance(obj, App.DocumentObject): + return False + if hasattr(obj, 'Group'): + return False + + if not hasattr(obj, 'Shape'): + return False + if not hasattr(obj.Shape, 'Mass'): + return False + if not hasattr(obj.Shape, 'Solids'): + return False + + if len(obj.Shape.Solids) == 0: + return False + + return True + + +T = TypeVar("T") + + +def from_list(f: Callable[[Any], T], x: Any) -> List[T]: + assert isinstance(x, list) + return [f(y) for y in x] + + +def from_str(x: Any) -> str: + assert isinstance(x, str) + return x + + +def from_dict(f: Callable[[Any], T], x: Any) -> Dict[str, T]: + assert isinstance(x, dict) + return {k: f(v) for (k, v) in x.items()} + + +def to_class(c: Type[T], x: Any) -> dict: + assert isinstance(x, c) + return cast(Any, x).to_dict() + + +class AdjacencyMatrix: + matrixError: Dict[str,str] = {} + all_parts: List[str] + first_detail: str + matrix: Dict[str, List[str]] + + def __init__(self, all_parts: List[str], first_detail: str, matrix: Dict[str, List[str]]) -> None: + self.all_parts = all_parts + self.first_detail = first_detail + self.matrix = matrix + self.validateMatrix() + + def whatPlaceLeadingPartIndex(self): + i = 0 + for el in self.matrix: + if el == self.first_detail: + return i + i = +1 + def validateMatrix(self): + for el in self.all_parts: + if(self.matrix.get(el) == None): + self.matrixError[el] = 'Not found adjacency ' + el + @staticmethod + def from_dict(obj: Any) -> 'AdjacencyMatrix': + assert isinstance(obj, dict) + all_pars = from_list(from_str, obj.get("allPars")) + first_detail = from_str(obj.get("firstDetail")) + matrix = from_dict(lambda x: from_list(from_str, x), obj.get("matrix")) + + return AdjacencyMatrix(all_pars, first_detail, matrix) + + def to_dict(self) -> dict: + result: dict = {} + result["allPars"] = from_list(from_str, self.all_parts) + result["firstDetail"] = from_str(self.first_detail) + result["matrix"] = from_dict( + lambda x: from_list(from_str, x), self.matrix) + if(self.matrixError.values().__len__() == 0): + result['matrixError'] = None + else: + result['matrixError'] = self.matrixError + return result + + def getDictMatrix(self) -> dict: + result = {} + + for k, v in self.matrix.items(): + result[k] = {} + for el in v: + result[k][el] = el + + return result + + +def adjacency_matrix_from_dict(s: Any) -> AdjacencyMatrix: + return AdjacencyMatrix.from_dict(s) + + +def adjacency_matrix_to_dict(x: AdjacencyMatrix) -> Any: + return to_class(AdjacencyMatrix, x) + + +class FreeCadMetaModel(object): + + def __init__(self, label, vertex) -> None: + self.label = label + self.vertex = vertex + + +collision_squares_labels = [] + + +class MeshGeometryCoordinateModel(object): + + def __init__(self, x, y, z, label,): + self.x = x + self.y = y + self.z = z + self.label = label + self.cadLabel = '' + + def initializePrimitivesByCoordinate(self, detailSquares): + uuidDoc = str(uuid.uuid1()) + App.ActiveDocument.addObject("Part::Box", "Box") + App.ActiveDocument.ActiveObject.Label = uuidDoc + App.ActiveDocument.recompute() + part = App.ActiveDocument.getObjectsByLabel(uuidDoc)[0] + collision_squares_labels.append(uuidDoc) + part.Width = 2 + part.Height = 2 + part.Length = 2 + part.Placement = App.Placement( + App.Vector(self.x - 1, self.y - 1, self.z - 1), + App.Rotation(App.Vector(0.00, 0.00, 1.00), 0.00)) + if (detailSquares.get(self.label) is None): + detailSquares[self.label] = [] + detailSquares[self.label].append(self) + self.cadLabel = uuidDoc + App.ActiveDocument.recompute() + + +class FS: + def readJSON(path: str): + return json.loads((open(path)).read()) + + def writeFile(data, filePath, fileName): + + file_to_open = filePath + fileName + + f = open(file_to_open, 'w', encoding='utf8') + + f.write(data) + + def readFile(path: str): + return open(path).read() + + def readFilesTypeFolder(pathFolder: str, fileType='.json'): + filesJson = list( + filter(lambda x: x[-fileType.__len__():] == fileType, os.listdir(pathFolder))) + return filesJson + + +class GetAllPartsLabelsUseCase: + def call(self): + parts = [] + for part in FreeCadRepository().getAllSolids(): + parts.append(part.Label) + return parts + + +def isUnique(array, element): + for i in array: + if i == element: + return False + + return True + + +class GetCollisionAtPrimitiveUseCase(object): + + def call(self, freeCadMetaModels, detailSquares) -> Dict[str, List[str]]: + matrix: Dict[str, List[str]] = {} + for model in freeCadMetaModels: + activePart = App.ActiveDocument.getObjectsByLabel(model.label)[0] + for key in detailSquares: + if (model.label != key): + for renderPrimitive in detailSquares[key]: + primitivePart = App.ActiveDocument.getObjectsByLabel( + renderPrimitive.cadLabel)[0] + collisionResult: int = int( + activePart.Shape.distToShape(primitivePart.Shape)[0]) + if (collisionResult == 0): + if matrix.get(model.label) == None: + matrix[model.label] = [renderPrimitive.label] + else: + if isUnique(matrix[model.label], renderPrimitive.label): + matrix[model.label].append( + renderPrimitive.label + ) + return matrix + + +class GetFirstDetailUseCase: + def call(self): + return FreeCadRepository().getAllSolids()[0].Label + + +class GetPartPrimitiveCoordinatesUseCase(object): + + def call(self, freeCadMetaModels): + meshCoordinates: list[MeshGeometryCoordinateModel] = [] + for model in freeCadMetaModels: + vertexesDetail = model.vertex + labelDetail = model.label + for coords in vertexesDetail: + detailVertex = MeshGeometryCoordinateModel( + coords.X, + coords.Y, + coords.Z, + labelDetail, + ) + meshCoordinates.append(detailVertex) + + return meshCoordinates + + +class InitPartsParseUseCase(): + + def call(self): + product_details = [] + for part in FreeCadRepository().getAllSolids(): + if part is not None: + model = FreeCadMetaModel(part.Label, part.Shape.Vertexes) + if (model is not None): + product_details.append(model) + return product_details + + +class RenderPrimitiveUseCase(object): + + def call(self, meshModels: list[MeshGeometryCoordinateModel], detailSquares) -> None: + for mesh in meshModels: + mesh.initializePrimitivesByCoordinate(detailSquares) + + +class ClearWorkSpaceDocumentUseCase(object): + def call(self, detailSquares): + for key in detailSquares: + for renderPrimitive in detailSquares[key]: + primitivePart = App.ActiveDocument.getObjectsByLabel( + renderPrimitive.cadLabel)[0] + App.ActiveDocument.removeObject(primitivePart.Name) + + +class RenderPrimitivesScenario(object): + + def __init__( + self, + initPartsParseUseCase: InitPartsParseUseCase, + getPartPrimitiveCoordinatesUseCase: GetPartPrimitiveCoordinatesUseCase, + renderPrimitiveUseCase: RenderPrimitiveUseCase, + getCollisionAtPrimitives: GetCollisionAtPrimitiveUseCase, + clearWorkSpaceDocument: ClearWorkSpaceDocumentUseCase, + ) -> None: + self.initPartsParseUseCase = initPartsParseUseCase + self.getPartPrimitiveCoordinatesUseCase = getPartPrimitiveCoordinatesUseCase + self.renderPrimitiveUseCase = renderPrimitiveUseCase + self.getCollisionAtPrimitives = getCollisionAtPrimitives + self.clearWorkSpaceDocument = clearWorkSpaceDocument + + def call(self) -> None: + meshCoordinates = [] + detailSquares = {} + parts = self.initPartsParseUseCase.call() + meshCoordinates = self.getPartPrimitiveCoordinatesUseCase.call(parts) + self.renderPrimitiveUseCase.call(meshCoordinates, detailSquares) + matrix = self.getCollisionAtPrimitives.call(parts, detailSquares) + self.clearWorkSpaceDocument.call(detailSquares) + return matrix + + +class ClearWorkSpaceDocumentUseCase(object): + def call(self, detailSquares): + for key in detailSquares: + for renderPrimitive in detailSquares[key]: + primitivePart = App.ActiveDocument.getObjectsByLabel( + renderPrimitive.cadLabel)[0] + App.ActiveDocument.removeObject(primitivePart.Name) + + +class CadAdjacencyMatrix: + def primitiveMatrix(self): + matrix = RenderPrimitivesScenario( + InitPartsParseUseCase(), + GetPartPrimitiveCoordinatesUseCase(), + RenderPrimitiveUseCase(), + GetCollisionAtPrimitiveUseCase(), + ClearWorkSpaceDocumentUseCase(), + ).call() + + return AdjacencyMatrix( + all_parts=GetAllPartsLabelsUseCase().call(), + first_detail=GetFirstDetailUseCase().call(), + matrix=matrix, + ) + + def matrixBySurfaces(self,): + adjaxed = {} + for part in FreeCadRepository().getAllSolids(): + adjaxed[part.Label] = [] + for nextPart in FreeCadRepository().getAllSolids(): + if part.Label != nextPart.Label: + collisionResult: int = int( + part.Shape.distToShape(nextPart.Shape)[0]) + if (collisionResult == 0): + adjaxed[part.Label].append(nextPart.Label) + + return AdjacencyMatrix(all_parts=GetAllPartsLabelsUseCase( + ).call(), first_detail=GetFirstDetailUseCase().call(), + matrix=adjaxed + ) + + +def main(): + env = FS.readJSON('env.json') + cadFile = env['cadFilePath'] + outPath = env['outPath'] + if (cadFile == None): + return TypeError('CadFile not found env.json') + App.open(u'' + cadFile) + + + matrixOut = CadAdjacencyMatrix().primitiveMatrix().to_dict() + import json + FS.writeFile(json.dumps(matrixOut, ensure_ascii=False, indent=4), outPath,'out.json') + + +main() diff --git a/pddl/main.py b/pddl/main.py index 8541124..6766cce 100644 --- a/pddl/main.py +++ b/pddl/main.py @@ -5,7 +5,7 @@ from src.model.asm4_structure import Asm4Structure from src.usecases.assembly_to_pddl_use_case import AssemblyToPddlUseCase -# python3 main.py --stepStructurePath /Users/idontsudo/robo/Cube3/step-structure.json --outPath /Users/idontsudo/robo/Cube3/pddl/ +# python3 main.py --stepStructurePath /home/idontsudo/t/framework/asp-review-app/server/public/cubes/generation/step-structure.json --outPath /home/idontsudo/t/framework/pddl/ if __name__ == "__main__": parser = argparse.ArgumentParser() diff --git a/stability_process_predicate/main.py b/stability_process_predicate/main.py new file mode 100644 index 0000000..a4e0304 --- /dev/null +++ b/stability_process_predicate/main.py @@ -0,0 +1,16 @@ +import argparse + +from usecases.stability_check_usecase import StabilityCheckUseCase + +#python3 main.py --aspPath /home/idontsudo/t/framework/asp/out/sdf-generation --buildNumber 3 +def main(): + parser = argparse.ArgumentParser() + parser.add_argument('--aspPath', help='asp folder generation path') + parser.add_argument('--buildNumber', help='FreeCad generation buildNumber') + args = parser.parse_args() + # args.aspPath + # args.buildNumber + StabilityCheckUseCase().call( args.aspPath,args.buildNumber ) + + +main() \ No newline at end of file diff --git a/stability_process_predicate/usecases/stability_check_usecase.py b/stability_process_predicate/usecases/stability_check_usecase.py new file mode 100644 index 0000000..9d37b53 --- /dev/null +++ b/stability_process_predicate/usecases/stability_check_usecase.py @@ -0,0 +1,61 @@ +import numpy as np +import pybullet as p +import time +import pybullet_data +import os +import json + + +class StabilityCheckUseCase: + def call(self, outPath: str, buildNumber: int, duration=500): + DURATION = duration + try: + assemblyUrdf = json.loads( + (open(outPath + 'urdf-generation.json')).read()).get(buildNumber) + except: + return TypeError('not found urfd file or not found build number') + inc = 0 + urdfs = [] + + for el in assemblyUrdf: + inc += 1 + file_to_open = outPath + str(inc) + '.urdf' + + f = open(file_to_open, 'w', encoding='utf-8', + errors='ignore') + f.write(el) + urdfs.append(os.path.abspath(f.name)) + f.close() + + p.connect(p.DIRECT) + + p.setGravity(0, 0, -10) + p.setAdditionalSearchPath(pybullet_data.getDataPath()) + bulletIds = [] + for el in urdfs: + bulletIds.append(p.loadURDF(el)) + p.loadURDF("plane.urdf") + resultCoords = [] + for i in range(DURATION): + if (i + 200 == DURATION): + inc = 0 + for el in bulletIds: + inc += 1 + pos, rot = p.getBasePositionAndOrientation(el) + resultCoords.append({ + 'id': inc, + "quaternion": rot, + "position": pos + }) + p.stepSimulation() + time.sleep(1./240.) + + file_to_open = outPath + buildNumber + "_" + 'stability_coords.json' + + f = open(file_to_open, 'w', encoding='utf-8', + errors='ignore') + f.write(json.dumps(resultCoords)) + for el in urdfs: + os.remove(el) + f.close() + p.disconnect()